Online walking motion and foothold optimization for quadruped locomotion

We present an algorithm that generates walking motions for quadruped robots without the use of an explicit footstep planner by simultaneously optimizing over both the Center of Mass (CoM) trajectory and the footholds. Feasibility is achieved by imposing stability constraints on the CoM related to th...

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Published in2017 IEEE International Conference on Robotics and Automation (ICRA) pp. 5308 - 5313
Main Authors Winkler, Alexander W., Farshidian, Farbod, Neunert, Michael, Pardo, Diego, Buchli, Jonas
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2017
Subjects
Acceleration
Force
Legged locomotion
Mathematical model
Optimization
Trajectory
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DOI10.1109/ICRA.2017.7989624

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Abstract We present an algorithm that generates walking motions for quadruped robots without the use of an explicit footstep planner by simultaneously optimizing over both the Center of Mass (CoM) trajectory and the footholds. Feasibility is achieved by imposing stability constraints on the CoM related to the Zero Moment Point and explicitly enforcing kinematic constraints between the footholds and the CoM position. Given a desired goal state, the problem is solved online by a Nonlinear Programming solver to generate the walking motion. Experimental trials show that the algorithm is able to generate walking gaits for multiple steps in milliseconds that can be executed on a real quadruped robot.
AbstractList We present an algorithm that generates walking motions for quadruped robots without the use of an explicit footstep planner by simultaneously optimizing over both the Center of Mass (CoM) trajectory and the footholds. Feasibility is achieved by imposing stability constraints on the CoM related to the Zero Moment Point and explicitly enforcing kinematic constraints between the footholds and the CoM position. Given a desired goal state, the problem is solved online by a Nonlinear Programming solver to generate the walking motion. Experimental trials show that the algorithm is able to generate walking gaits for multiple steps in milliseconds that can be executed on a real quadruped robot.
Author Pardo, Diego
Farshidian, Farbod
Winkler, Alexander W.
Neunert, Michael
Buchli, Jonas
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Snippet We present an algorithm that generates walking motions for quadruped robots without the use of an explicit footstep planner by simultaneously optimizing over...
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StartPage 5308
SubjectTerms Acceleration
Force
Legged locomotion
Mathematical model
Optimization
Trajectory
Title Online walking motion and foothold optimization for quadruped locomotion
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