Refine
Year of publication
Institute
- Fachbereich Medizintechnik und Technomathematik (1699)
- Fachbereich Elektrotechnik und Informationstechnik (722)
- IfB - Institut für Bioengineering (627)
- Fachbereich Energietechnik (590)
- INB - Institut für Nano- und Biotechnologien (557)
- Fachbereich Chemie und Biotechnologie (555)
- Fachbereich Luft- und Raumfahrttechnik (500)
- Fachbereich Maschinenbau und Mechatronik (289)
- Fachbereich Wirtschaftswissenschaften (224)
- Solar-Institut Jülich (165)
Language
- English (4961) (remove)
Document Type
- Article (3277)
- Conference Proceeding (1197)
- Part of a Book (197)
- Book (146)
- Conference: Meeting Abstract (34)
- Doctoral Thesis (32)
- Patent (25)
- Other (10)
- Report (10)
- Conference Poster (6)
Keywords
- Biosensor (25)
- Finite-Elemente-Methode (12)
- Einspielen <Werkstoff> (10)
- CAD (8)
- civil engineering (8)
- Bauingenieurwesen (7)
- Blitzschutz (6)
- FEM (6)
- Gamification (6)
- Limit analysis (6)
Many biped robots deploy a form of gait that follows the zero moment point (ZMP) approach, that is, the robot is in a stable position at any point in time. This requires the robot to be fully actuated. While very stable, the draw-backs of this approach are a fairly slow gait and high energy consumption. An alternative approach is the so-called passive-dynamic walking, where the gait makes use of the inertia and dynamic stability of the robot. In this paper we describe our ongoing work of combining the principles of passive-dynamic walking on the fully-actuated biped robot Nao, which is also deployed for robotic soccer applications. We present a simple controller that allows the robot to stably rock sidewards, showing a closed limit-cycle. We discuss first results of superimposing a forward motion on the sidewards motion. Based on this we expect to endow the Nao with a fast, robust, and stable passive-dynamic walk on the fully-actuated Nao in the future.
In the RoboCup@Home domestic service robot competition, complex tasks such as "get the cup from the kitchen and bring it to the living room" or "find me this and that object in the apartment" have to be accomplished. At these competitions the robots may only be instructed by natural language. As humans use qualitative concepts such as "near" or "far", the robot needs to cope with them, too. For our domestic robot, we use the robot programming and plan language Readylog, our variant of Golog. In previous work we extended the action language Golog, which was developed for the high-level control of agents and robots, with fuzzy concepts and showed how to embed fuzzy controllers in Golog. In this paper, we demonstrate how these notions can be fruitfully applied to two domestic service robotic scenarios. In the first application, we demonstrate how qualitative fluents based on a fuzzy set semantics can be deployed. In the second program, we show an example of a fuzzy controller for a follow-a-person task.