Dynamic locomotion and whole-body control for quadrupedal robots

This paper presents a framework which allows a quadrupedal robot to execute dynamic gaits including trot, pace and dynamic lateral walk, as well as a smooth transition between them. Our method relies on an online ZMP based motion planner which continuously updates the reference motion trajectory as...

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Bibliographic Details
Published in2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 3359 - 3365
Main Authors Dario Bellicoso, C., Jenelten, Fabian, Fankhauser, Peter, Gehring, Christian, Hwangbo, Jemin, Hutter, Marco
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2017
Subjects
Dynamics
Jacobian matrices
Legged locomotion
Optimization
Robot kinematics
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Summary:This paper presents a framework which allows a quadrupedal robot to execute dynamic gaits including trot, pace and dynamic lateral walk, as well as a smooth transition between them. Our method relies on an online ZMP based motion planner which continuously updates the reference motion trajectory as a function of the contact schedule and the state of the robot. The planner is coupled with a hierarchical whole-body controller which optimizes the whole-body motion and contact forces by solving a cascade of prioritized tasks. We tested our framework on ANYmal, a fully torque controllable quadrupedal robot which is actuated by series-elastic actuators.
ISSN:2153-0866
DOI:10.1109/IROS.2017.8206174