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Contact-timing and Trajectory Optimization for 3D Jumping on Quadruped Robots [article]

Chuong Nguyen, Quan Nguyen
2022 arXiv   pre-print
To address these challenges, this paper presents a novel timings and trajectory optimization framework for legged robots performing aggressive 3D jumping.  ...  This combination allows us to effectively optimize for contact timings while ensuring that the jumping trajectory that can be effectively realized in the robot hardware.  ...  ACKNOWLEDGMENTS The authors would like to thank Yiyu Chen and Hiep Hoang at Dynamic Robotics and Control lab for their assistance in simulation and hardware experimentation. Chuong also thank Dr.  ... 
arXiv:2110.06764v3 fatcat:7k5htfamgrcohnohomuegyhl5e

Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles [article]

Scott Gilroy, Derek Lau, Lizhi Yang, Ed Izaguirre, Kristen Biermayer, Anxing Xiao, Mengti Sun, Ayush Agrawal, Jun Zeng, Zhongyu Li, Koushil Sreenath
2021 arXiv   pre-print
Such optimization schematic allows the robot to jump through window-shaped obstacles by considering both obstacles in the air and on the ground.  ...  This paper presents a methodology that extends the range of exploration for quadrupedal robots by creating an end-to-end navigation framework that exploits walking and jumping modes.  ...  The authors would like to thank Professor Sangbae Kim, the MIT Biomimetic Robotics Lab, and NAVER LABS for providing the Mini Cheetah simulation software and lending the Mini Cheetah for experiments.  ... 
arXiv:2107.00773v1 fatcat:s2hpu3gzsncljex53lfkd2avwi

Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot [article]

Matthew Chignoli, Sangbae Kim
2021 arXiv   pre-print
This work presents a two part framework for online planning and execution of dynamic aerial motions on a quadruped robot.  ...  Since this nonlinear optimization is not tractable for real-time receding horizon control, motions are planned once via nonlinear optimization in preparation of an aerial motion and then tracked continuously  ...  Much of that research has focused on locomotion via standard walking and running gaits, specifically for bipedal and quadrupedal robots.  ... 
arXiv:2110.06330v1 fatcat:jisumqrmczflfjhd3phj6pz5fa

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research [article]

Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wüthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Thomas Flayols, Jonathan Fiene, Alexander Badri-Spröwitz, Ludovic Righetti
2020 arXiv   pre-print
Leveraging standard plastic 3D printing and off-the-shelf parts results in a lightweight and inexpensive robot, allowing for rapid distribution and duplication within the research community.  ...  A 2.2 kg quadruped robot with a large range of motion is assembled from eight identical actuator modules and four lower legs with foot contact sensors.  ...  Fig. 1 : 1 Quadruped robot Solo jumping: the maximum jump height at the time of writing was 65 cm from a standing height of 24 cm. (Photo by W.  ... 
arXiv:1910.00093v2 fatcat:wmbkln7qq5f7lpzx3a523ajuay

Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds

Michael Neunert, Markus Stauble, Markus Giftthaler, Carmine D. Bellicoso, Jan Carius, Christian Gehring, Marco Hutter, Jonas Buchli
2018 IEEE Robotics and Automation Letters  
Yet, thorough numerical and software engineering allows for running the nonlinear Optimal Control solver at rates up to 190 Hz on a quadruped for a time horizon of half a second.  ...  We use a full dynamic system model which also includes explicit contact dynamics. Therefore, contact locations, sequences and timings are not prespecified but optimized by the solver.  ...  Moritz Diehl and Dimitris Kouzoupis for their valuable feedback and Gianluca Frison for his support for interfacing with the HPIPM solver.  ... 
doi:10.1109/lra.2018.2800124 fatcat:7yfgd25tivcv3nysquhq3zrjze

Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping [article]

Matthew Chignoli, Savva Morozov, Sangbae Kim
2022 arXiv   pre-print
We first formulate a real-time tractable trajectory optimization for performing omnidirectional jumping.  ...  We deploy our framework on the Mini Cheetah Vision quadruped, demonstrating the robot's ability to generate and execute reliable, goal-oriented plans that involve forward, lateral, and rotational jumps  ...  For each sample, we first carry out the corresponding jump optimization as in (4) . Using this optimal trajectory, the robot attempts to perform the jumping motion in simulation.  ... 
arXiv:2111.13648v2 fatcat:7357lsfofbelhbxdgmjxuyd2ri

Foot Trajectory Planning and Optimization Simulation of Low Foot-Terrain Impact by Quadruped Robot Based on the Trot Gait

Ma Hui-shu
2018 Journal Electrical and Electronic Engineering  
For the Trot gait of bionics quadruped robot, an improved algorithm of foot trajectory planning with low force and low energy consumption is proposed.  ...  quadruped robot.  ...  In the 1980s, Raibert [1] accomplishes the running and jumping behaviors of single-footed, bipedal and quadrupedal robots through analyzing the mechanical characteristics of spring-loaded inverted pendulums  ... 
doi:10.11648/j.jeee.20180601.15 fatcat:mbwuyq76bnfznbk5f7uv4wut4u

Fast Contact-Implicit Model-Predictive Control [article]

Simon Le Cleac'h, Taylor Howell, Mac Schwager, Zachary Manchester
2021 arXiv   pre-print
To achieve reliable and fast numerical convergence, we devise a structure-exploiting, path-following solver for the LCP contact dynamics and a custom trajectory optimizer for trajectory-tracking MPC problems  ...  robotic systems, including a pushbot, hopper, and planar quadruped and biped.  ...  ACKNOWLEDGMENTS This work was supported in part by Frontier Robotics, Innovative Research Excellence, Honda R&D Co., Ltd, ONR award N00014-18-1-2830, NSF NRI award 1830402, and DARPA YFA award D18AP00064  ... 
arXiv:2107.05616v2 fatcat:iygm52ihyjhedlez7gmuqmqhg4

Hybrid direct collocation and control in the constraint-consistent subspace for dynamic legged robot locomotion

Diego Pardo, Michael Neunert, Alexander Winkler, Ruben Grandia, Jonas Buchli
2017 Robotics: Science and Systems XIII  
We apply this method on a hydraulically-actuated quadruped robot. We show two types of gaits (walking and trotting) as well as diverse jumping motions (forward, sideways, turning) on the real system.  ...  The results presented here are one of the few examples of an optimal control problem solved and satisfactorily transferred to a real torquecontrolled legged robot.  ...  RESULTS We use the method to generate gaits (walking and trotting) and different types of jumping motions for a point feet quadruped robot.  ... 
doi:10.15607/rss.2017.xiii.042 dblp:conf/rss/PardoNWGB17 fatcat:kakipulqtneclaqzvnhhkonnoy

Imitation and Adaptation Based on Consistency: A Quadruped Robot Imitates Animals from Videos Using Deep Reinforcement Learning [article]

Qingfeng Yao, Jilong Wang, Shuyu Yang, Cong Wang, Hongyin Zhang, Qifeng Zhang, Donglin Wang
2022 arXiv   pre-print
However, the gait motion planning of the quadruped robot is time-consuming. Animals in nature can provide a large amount of gait information for robots to learn and imitate.  ...  different animals and to transfer the motion pattern to the real robot.  ...  [10] proposed a framework combining DRL with nonlinear trajectory optimization to assist quadruped robots in jumping. Lee et al.  ... 
arXiv:2203.05973v1 fatcat:qx2qdkc6jjfldf4lemqmn6glku

Locomotion skills for simulated quadrupeds

Stelian Coros, Andrej Karpathy, Ben Jones, Lionel Reveret, Michiel van de Panne
2011 ACM Transactions on Graphics  
Figure 1 : Real-time physics-based quadruped simulations of gaits (walk, trot, canter, transverse gallop, pace, rotary gallop), gait transitions, sitting and standing up, targeted jumps, and jumps on-to  ...  Abstract We develop an integrated set of gaits and skills for a physics-based simulation of a quadruped.  ...  Acknowledgements: We thank the anonymous reviewers for their suggestions for improving the paper. This work was supported by NSERC and GRAND.  ... 
doi:10.1145/2010324.1964954 fatcat:afipxe5kvveinfjfcutk4bai6y

Locomotion skills for simulated quadrupeds

Stelian Coros, Andrej Karpathy, Ben Jones, Lionel Reveret, Michiel van de Panne
2011 ACM SIGGRAPH 2011 papers on - SIGGRAPH '11  
Figure 1 : Real-time physics-based quadruped simulations of gaits (walk, trot, canter, transverse gallop, pace, rotary gallop), gait transitions, sitting and standing up, targeted jumps, and jumps on-to  ...  Abstract We develop an integrated set of gaits and skills for a physics-based simulation of a quadruped.  ...  Acknowledgements: We thank the anonymous reviewers for their suggestions for improving the paper. This work was supported by NSERC and GRAND.  ... 
doi:10.1145/1964921.1964954 fatcat:ikgjzg5g4fcdfk6qmdv37ggiru

Cat-Like Jumping and Landing of Legged Robots in Low Gravity Using Deep Reinforcement Learning

Nikita Rudin, Hendrik Kolvenbach, Vassilios Tsounis, Marco Hutter
2021 IEEE Transactions on robotics  
Using an off-the-shelf deep reinforcement learning algorithm, we trained a neural network to control a jumping quadruped robot while solely using its limbs for attitude control.  ...  Using sim-to-real transfer, we deploy trained policies in the real world on the SpaceBok robot placed on an experimental testbed designed for two-dimensional micro-gravity experiments.  ...  The authors would like to thank Martin Werner Zwick and Gianfranco Visentin from the Automation and Robotics section of the European Space Agency for their organizational efforts in realizing the tests  ... 
doi:10.1109/tro.2021.3084374 fatcat:usj54ydbnjatvj3cpfq42zrb4e

A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots [article]

Ke Wang, Guiyang Xin, Songyan Xin, Michael Mistry, Sethu Vijayakumar, Petar Kormushev
2021 arXiv   pre-print
Twisting jump and forward jump experiments on the bipedal robot SLIDER and quadrupedal robot ANYmal demonstrate the improved jump performance by actively changing the centroidal inertia.  ...  The model is called the Lump Leg Single Rigid Body Model (LL-SRBM) and can be used to plan motions for both bipedal and quadrupedal robots.  ...  The authors would like to thank Digby Chappell for helpful discussions.  ... 
arXiv:2109.04581v1 fatcat:novmo6vxxnehxc6enu3jangwwu

Real-time Optimal Landing Control of the MIT Mini Cheetah [article]

Se Hwan Jeon, Sangbae Kim, Donghyun Kim
2021 arXiv   pre-print
This work presents a real-time, optimal landing controller that is free of pre-specified contact schedules.  ...  Quadrupedal landing is a complex process involving large impacts, elaborate contact transitions, and is a crucial recovery behavior observed in many biological animals.  ...  The authors would like to thank Elijah Stanger-Jones and Aditya Mehrotra for their assistance in hardware experimentation, and the other members of the Biomimetic Robotics Lab for their insight and support  ... 
arXiv:2110.02799v1 fatcat:pfa54wwbgffffftnstmgadv7t4
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