Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain

Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini

Research output: Chapter in Book/Report/Conference proceedingConference contribution

102 Citations (Scopus)

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.
Original languageEnglish
Title of host publication2015 IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
ISBN (Electronic)9781479969234, 9781479969210
DOIs
Publication statusPublished - 2 Jul 2015
Event2015 IEEE International Conference on Robotics and Automation - Seattle, United States
Duration: 26 May 201530 May 2015

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation 2015
PublisherIEEE
ISSN (Print)1050-4729

Conference

Conference2015 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA 2015
Country/TerritoryUnited States
CitySeattle
Period26/05/1530/05/15

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

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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