000200254 001__ 200254
000200254 005__ 20190316235942.0
000200254 037__ $$aCONF
000200254 245__ $$aExcitation and Stabilization of Passive Dynamics in Locomotion using Hierarchical Operational Space Control
000200254 269__ $$a2014
000200254 260__ $$c2014
000200254 336__ $$aConference Papers
000200254 520__ $$aThis paper describes a hierarchical operational space control (OSC) method based on least square optimization and outlines different ways to reduce the dimensionality of the optimization vector. The framework allows to emulate various behaviors by prioritized task-space motion, joint torque, and contact force optimization. Moreover, a methodology is introduced to partially excite the natural dynamics of the robot by open-loop motor regulation while the entire behavior is stabilized by hierarchical OSC. As a major contribution, the presented control strategies are tested and validated in real hardware walking, trotting, and pronking experiments using a fully torque controllable quadrupedal robot.
000200254 700__ $$aHutter, M.
000200254 700__ $$aGehring, C.
000200254 700__ $$aBloesch, M.
000200254 700__ $$aHoepflinger, M.
000200254 700__ $$aFankhauser, P.
000200254 700__ $$aSiegwart, R.
000200254 7112_ $$a2014 IEEE International Conference on Robotics and Automation (ICRA 2014)$$cHong Kong, China$$dMay 31 - June 7, 2014
000200254 8564_ $$s2121806$$uhttps://infoscience.epfl.ch/record/200254/files/ICRA2014_OSCpassiveFinalSubmissionSmall.pdf$$yn/a$$zn/a
000200254 909C0 $$0252409$$pNCCR-ROBOTICS$$xU12367
000200254 909CO $$ooai:infoscience.tind.io:200254$$pconf$$qGLOBAL_SET
000200254 917Z8 $$x221818
000200254 937__ $$aEPFL-CONF-200254
000200254 973__ $$aOTHER$$rREVIEWED$$sPUBLISHED
000200254 980__ $$aCONF