This thesis presents a comparative study of two different footstep planning approaches for DFKI´s bipedal research platform HyPer-1: a heuristic method based on the principles outlined by Marc Raibert and a model-based method us-ing the 3D Linear Inverted Pendulum Model (3D LIPM). The goal is to achieve robust and adaptive bipedal locomotion by generating feasible step and gait sequences based on user input in the form of velocity commands. Both planners are first developed and tested in simulation and then integrated into the control framework of the HyPer-1. The thesis evaluates the trade-offs between the reac-tive simplicity of heuristic planning and the precision of model-based strategies, offering insight into real world applications of bipedal legged locomotion.
Vortragsdetails
Footstep Planning for Bipedal Robot HyPer-1
In der Regel sind die Vorträge Teil von Lehrveranstaltungsreihen der Universität Bremen und nicht frei zugänglich. Bei Interesse wird um Rücksprache mit dem Sekretariat unter sek-ric(at)dfki.de gebeten.