Zobrazeno 1 - 10
of 24
pro vyhledávání: '"Felix Sygulla"'
Autor:
Felix Sygulla, Daniel Rixen
Publikováno v:
International Journal of Advanced Robotic Systems, Vol 17 (2020)
The robustness of biped walking in unknown and uneven terrains is still a major challenge in research. Traversing such environments is usually solved through vision-based reasoning on footholds and feedback loops—such as ground force control. Uncer
Externí odkaz:
https://doaj.org/article/bb3f4f6048884da1ba273e2ac86caf76
Autor:
Arne-Christoph Hildebrandt, Konstantin Ritt, Daniel Wahrmann, Robert Wittmann, Felix Sygulla, Philipp Seiwald, Daniel Rixen, Thomas Buschmann
Publikováno v:
International Journal of Advanced Robotic Systems, Vol 15 (2018)
Bipedal robots can be better alternatives to other robots in certain applications, but their full potential can only be used if their entire kinematic range is cleverly exploited. Generating motions that are not only dynamically feasible but also tak
Externí odkaz:
https://doaj.org/article/50c3f21b2ff5435ebdc702d278afde86
Autor:
Daniel Wahrmann, Yizhe Wu, Felix Sygulla, Arne-Christoph Hildebrandt, Robert Wittmann, Philipp Seiwald, Daniel Rixen
Publikováno v:
International Journal of Advanced Robotic Systems, Vol 15 (2018)
Most walking controllers for biped robots are based on a synchronized phase-based structure, where trajectories are executed following predefined timing constraints. This inherent fixed time dependency makes humanoid robots extremely susceptible to i
Externí odkaz:
https://doaj.org/article/aa327736b74b4f5399946f2378b84d8d
Autor:
Daniel Wahrmann, Thomas Buschmann, Arne-Christoph Hildebrandt, Felix Sygulla, Robert Wittmann, Daniel J. Rixen
Publikováno v:
Autonomous Robots. 43:1957-1976
Autonomous navigation in complex environments featuring obstacles, varying ground compositions, and external disturbances requires real-time motion generation and stabilization simultaneously. In this paper, we present and evaluate a strategy for rej
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::306782fe297a350fd915a681f225723d
https://doi.org/10.1007/s10514-019-09838-3
https://doi.org/10.1007/s10514-019-09838-3
Publikováno v:
Topics in Modal Analysis & Testing, Volume 8 ISBN: 9783030759957
Structural dynamics can have a significant influence on the performance of robots. This has already been extensively shown for robot manipulators. In a previous work, we have also shown this for our biped walking robot Lola. Vibration issues caused b
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::545b3a36af50a8603e6082f335ac966f
https://doi.org/10.1007/978-3-030-75996-4_6
https://doi.org/10.1007/978-3-030-75996-4_6
Autor:
Federico Tombari, Philipp Seiwald, Tobias F. C. Berninger, Moritz F. Sattler, Daniel J. Rixen, Nora-Sophie Staufenberg, Felix Sygulla, Nicolas Neuburger, Shun-Cheng Wu
Publikováno v:
HUMANOIDS
This paper presents recent and ongoing hardware and software upgrades to our humanoid robot LOLA. The purpose of these modifications is to achieve dynamic multi-contact locomotion, i. e., fast bipedal walking with additional hand-environment support
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::7b78aad54cbaeb83725eeb8a6cf635a4
https://mediatum.ub.tum.de/doc/1632648/document.pdf
https://mediatum.ub.tum.de/doc/1632648/document.pdf
Publikováno v:
ICRA
Over the past decade we have been able to vastly improve the control algorithms of our biped walking robot LOLA. Further enhancements, however, are limited by vibration problems caused by the dynamics of LOLA’s mechanical structure. In this work, w
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b1d90d6f7a4229eaf899b70348247a9d
https://doi.org/10.1109/icra40945.2020.9197282
https://doi.org/10.1109/icra40945.2020.9197282
Autor:
Philipp Seiwald, Daniel Wahrmann, Arne-Christoph Hildebrandt, Robert Wittmann, Simon Schwerd, Thomas Buschmann, Daniel J. Rixen, Felix Sygulla
Publikováno v:
Autonomous Robots. 43:1187-1205
Bipedal locomotion is more than dynamically stable walking. The redundant kinematic design of humanoid robots allows for complex motions in complex scenarios. One challenge of current robotic research is the exploitation of the capacities of redundan
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::2b76f706109ed3bfbf24efa518401581
https://doi.org/10.1007/s10514-018-9789-3
https://doi.org/10.1007/s10514-018-9789-3
Quintic Spline Collocation for Real-Time Biped Walking-Pattern Generation with variable Torso Height
Publikováno v:
Humanoids
This paper presents our newest findings in planning a dynamically and kinematically feasible center of mass motion for bipedal walking robots. We use a simplified robot model to incorporate multi-body dynamics and kinematic limits, while still being
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::207a7fc3619d1d25f3e03df3d1a04935
https://doi.org/10.1109/humanoids43949.2019.9035076
https://doi.org/10.1109/humanoids43949.2019.9035076