Bewegungsalgorithmen für zweibeinige Roboter ohne Oberkörper (Path Planning Algorithms for Bipedal Robots without a Trunk)

Abstract Dieser Artikel stellt neue Algorithmen zur Bahnplanung zweibeiniger Roboter vor. Hierbei dienen die Beintrajektorien sowohl der Fortbewegung als auch der Stabilität. Es gelingt der Brückenschlag zwischen dem Konzept des Inversen Pendels (IPM) und den Verfahren auf Basis eines verallgemeinerten dynamischen Modells. Simulationen und Messungen der Fußreaktionskräfte während des Laufvorganges des realen Roboters BARt-UH verifizieren die Eignung der vorgestellten Verfahren.

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