The 10th Workshop on Humanoid Soccer Robots

The 10th Workshop on Humanoid Soccer Robots
at 15th IEEE-RAS International Conference on Humanoid Robots
Seoul, Korea, November 3rd 2015

Invited Presentation 14:00-14:30

Christian Ott, DLR Oberpfaffenhofen, Germany:

Control Algorithms for Walking and Running

This talk will give an overview of control algorithms for walking and running. The talk will start with a discussion of the Capture Point as a system variable in the model representation. For walking on flat ground the relationship between the Capture Point and the Zero-Moment-Point is considered. This model representation allows for a fast online trajectory generation and control. Walking on uneven terrain is addressed by a generalization to the three dimensional divergent component of motion. Finally, some recent algorithms for generation and control of humanoid running motions will be presented.

Slides: HSR_2015_Slides_Ott.pdf

 2015 Humanoid Soccer Workshop                   Humanoids 2015 Conference