@inproceedings{0c8b58b846054ec0909bbca263e51639,
title = "Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain",
abstract = "We present a framework for dynamic quadrupedal locomotion over challenging terrain, where the choice of appropriate footholds is crucial for the success of the behaviour. We build a model of the environment on-line and on-board using an efficient occupancy grid representation. We use Any-time-Repairing A* (ARA*) to search over a tree of possible actions, choose a rough body path and select the locally-best footholds accordingly. We run a n-step lookahead optimization of the body trajectory using a dynamic stability metric, the Zero Moment Point (ZMP), that generates natural dynamic whole-body motions. A combination of floating-base inverse dynamics and virtual model control accurately executes the desired motions on an actively compliant system. Experimental trials show that this framework allows us to traverse terrains at nearly 6 times the speed of our previous work, evaluated over the same set of trials.",
keywords = "Dynamics, trajectory, acceleration, planning, vehicle dynamics, legged locomotion, Quadrupedal, challenging terrain, dynamic locomotion, dynamic stability, dynamic motion, inverse dynamics, natural motion, occupancy grid, center of mass, sequence of actions, actual body, path planning, goal state, quadratic programming, body motion, proportional-integral-derivative, force vector, reactive control, we map, inaccurate model, legged robots, robot state, joint torque, feasible actions, body acceleration, environment map, motion primitives, landforms, active feedback",
author = "Winkler, {Alexander W.} and Carlos Mastalli and Ioannis Havoutis and Michele Focchi and Caldwell, {Darwin G.} and Claudio Semini",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 ; Conference date: 26-05-2015 Through 30-05-2015",
year = "2015",
month = jul,
day = "2",
doi = "10.1109/ICRA.2015.7139916",
language = "English",
series = "Proceedings - IEEE International Conference on Robotics and Automation 2015",
publisher = "IEEE",
booktitle = "2015 IEEE International Conference on Robotics and Automation (ICRA)",
address = "United States",
}