WebMar 15, 2024 · This paper presents a human-like walking control framework based on the Divergent Component of Motion (DCM) com planning method that enables a child-sized humanoid robot to walk with a humanoid pattern with a speed of 0.6 s per step a strike of 30 cm. The control framework consists of three parts: the human-like gait generation of the … WebMar 28, 2024 · To analyze gait motions using these limited sensors, the divergent component of motion (DCM) of the user is computed. The DCM is a physical quantity incorporating the linear position and linear velocity of the center of mass; these can be computed from the kinematic data of a support leg. In each of the three gait states SA, …
(PDF) Dynamic Walking on Compliant and Uneven Terrain …
WebHopkins, D. W. Hong and A. Leonessa , Compliant locomotion using whole-body control and Divergent Component of Motion tracking, 2015 IEEE Int. Conf. Robotics and Automation (ICRA), 26–30 May 2015a, Seattle, USA, pp. 5726–5733. WebNov 27, 2024 · This paper contributes towards the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent Component of Motion (DCM) and composed of three main layers: trajectory optimization, simplified model control, and whole-body QP control layer. While the first two layers use … how do i unlock my suunto core watch
Divergent Component of Motion-Based Gait Intention Detection …
WebBipedal robots have gained increasing attention for their human-like mobility which allows them to work in various human-scale environments. However, their inherent instability makes it difficult to control their balance while they are physically interacting with the environment. This study proposes a novel balance controller for bipedal robots based on … Webto keep the Divergent Component of Motion (DCM) of the Linear Inverted Pendulum (LIP) model we use within stable margin, and make the robot more agile when recovering from tilted state. We have verified our algorithm robustness via dynamics simulation and hardware experimental results on our THU-Strider Platform. WebNov 27, 2024 · This paper contributes towards the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent … how do i unlock my sunpass account