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An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
[article]
2020
arXiv
pre-print
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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. ...
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. ...
Moreover, we present the first real- robot experiments using motions computed with a centroidal dynamics-based kino-dynamic planner [9] , [22] . 1) Kino-dynamic motion optimizer and controller: The motions ...
arXiv:1910.00093v2
fatcat:wmbkln7qq5f7lpzx3a523ajuay
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics
2018
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)
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A common strategy today to generate efficient locomotion movements is to split the problem into two consecutive steps: the first one generates the contact sequence together with the centroidal trajectory ...
We experimentally show the importance of this approach by executing large steps walking on the real HRP-2 robot, and by solving the problem of attitude control under the absence of external forces. ...
INTRODUCTION A. Goal of the paper Trajectory optimization based on reduced centroidal dynamics [1] has gained a lot of attention in the legged robotics community. ...
doi:10.1109/humanoids.2018.8624925
dblp:conf/humanoids/BudhirajaCMM18
fatcat:xmxvya7wnndwrlghvr4oolgpc4
Line Walking and Balancing for Legged Robots with Point Feet
[article]
2020
arXiv
pre-print
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The ability of legged systems to traverse highly-constrained environments depends by and large on the performance of their motion and balance controllers. ...
on two feet at any time while moving along a line. ...
A more dynamic motion which is not based on support polygons is the trot, which involves stance phases with only two feet in contact with the ground (thus a series of line contacts). ...
arXiv:2007.01087v2
fatcat:q4ybvbsrmvfofkdtznngqpyovi
Balancing Control and Pose Optimization for Wheel-legged Robots Navigating High Obstacles
[article]
2022
arXiv
pre-print
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In detail, we first present a linear rigid body dynamics with wheels that can be used for real-time balancing control of wheel-legged robots. ...
In this paper, we propose a novel approach on controlling wheel-legged quadrupedal robots using pose optimization and force control via quadratic programming (QP). ...
Contributions The main contributions of the paper are as follows: • We introduce a new rigid body dynamics with wheels dynamics that can be effectively used for force-based balancing control of wheel-legged ...
arXiv:2109.09934v2
fatcat:gphgxrymuffnfb2dcshptvyaly
Hierarchical planning of dynamic movements without scheduled contact sequences
2016
2016 IEEE International Conference on Robotics and Automation (ICRA)
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We compute whole-body motions that achieve goals that cannot be reached in a kinematic fashion. First, we find a feasible CoM motion according to the centroidal dynamics of the robot. ...
Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. ...
HyL: one hydraulically actuated and fully torque controlled leg of the quadruped robot HyQ [24] . ...
doi:10.1109/icra.2016.7487664
dblp:conf/icra/MastalliHFCS16
fatcat:ihbwwjaqvnhetniecy7pq63nc4
Platonic beasts: Spherically symmetric multilimbed robots
1995
Autonomous Robots
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A robot in this family is kinematically equivalent to a symmetric polyhedron, such as one of the Platonic solids, with identical multi-purpose limbs attached to its vertices. ...
We describe a new class of spherically symmetric, high degree of freedom robots called "platonic beasts." ...
In the general case there is a brief dynamic "tip" episode during which only two limbs are in contact with the ground. ...
doi:10.1007/bf00710856
fatcat:mnd7xrlbgjeargdyxddt75sa74
Agile Maneuvers in Legged Robots: a Predictive Control Approach
[article]
2022
arXiv
pre-print
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While a few recent predictive control approaches based on centroidal momentum have been able to generate dynamic motions, they assume unlimited actuation capabilities. ...
In this work, we present a contact-phase predictive and state-feedback controllers that enables legged robots to plan and perform agile locomotion skills. ...
by the limbs can be "ignored" in quadruped robots or any legged robot with light-weight legs. ...
arXiv:2203.07554v1
fatcat:lc4a2ovvebg6pfc7kacgubbopu
Impedance Control for Legged Robots: An Insight Into the Concepts Involved
2012
IEEE Transactions on Systems Man and Cybernetics Part C (Applications and Reviews)
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of a robotic leg in contact with its environment is introduced. ...
A theoretical control scheme for the legs of a general legged robot is also introduced, and some simulations results are presented. ...
general case of a legged robot on a natural ground. ...
doi:10.1109/tsmcc.2012.2187190
fatcat:a6ng2aabxzd4hj4ntrctwg3zpm
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality
[article]
2018
arXiv
pre-print
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The quality of the visual feedback can vary significantly on a legged robot that is meant to traverse unknown and unstructured terrains. ...
In this work, we propose a heuristic-based planning approach that enables a quadruped robot to successfully traverse a significantly rough terrain (e.g., stones up to 10 cm of diameter), in absence of ...
Trajectory optimization [1] - [5] can be used to generate dynamically stable body motions, taking into account: robot dynamics, kinematic limits, leg reachability for motion generation and foothold ...
arXiv:1805.10238v4
fatcat:llf5ij6a6namxpmz7p625v3qli
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes
[article]
2021
arXiv
pre-print
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In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot trajectories that are shaped by a single linear feedback policy. ...
The end result is a robust and a fast feedback control law for bipedal walking on terrains with varying slopes. Towards the end, we also provide preliminary results of hardware transfer to Digit. ...
[13] learned centroidal dynamics based motion planners for multi-legged systems in rough terrain by using DRL stacked with their inverted pendulum on cart (IPC) model. ...
arXiv:2104.01662v2
fatcat:aozuaiza3vht7mhiifqoicnkf4
RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms
[article]
2022
arXiv
pre-print
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Deployment of robotic systems in the real world requires a certain level of robustness in order to deal with uncertainty factors, such as mismatches in the dynamics model, noise in sensor readings, and ...
Through our experiments, we show that trajectories generated using our approach can resist a greater range of forces originating from any possible direction. ...
Planning and Control for Quadrupeds with Arms Murphy et al. [1] were one of the first to investigate the use of a legged robot base to improve the capabilities of a robotic arm. ...
arXiv:2203.01446v1
fatcat:ua5rczyxabbm3nlxsktamu6ot4
An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion
[article]
2020
arXiv
pre-print
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Developing feasible body trajectories for legged systems on arbitrary terrains is a challenging task. ...
We here develop a general formulation of the improved feasible region to guarantee dynamic balance alongside the satisfaction of both actuation and kinematic limits for arbitrary terrains in an efficient ...
ACKNOWLEDGEMENTS We would like to thank Shamel Fahmi and all the members of the DLS lab for the help provided in the development work of this paper. ...
arXiv:2011.07967v1
fatcat:zplr2yw6q5g6bngffaq7pxchv4
OpenSHC: A Versatile Multilegged Robot Controller
[article]
2020
arXiv
pre-print
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Multilegged robots have the ability to perform stable locomotion on relatively rough terrain. However, the complexity of legged robots over wheeled or tracked robots make them difficult to control. ...
With OpenSHC being easily configured to different physical and locomotion specifications, a hardware-based parameter space search for optimal locomotion parameters is conducted. ...
The TITAN XIII [24] , aimed to use the wider range of leg motion of an insectoid configuration on a quadruped to achieve energy efficient dynamic walking. ...
arXiv:2006.04424v2
fatcat:n3jclhy7rzejxibnfbalynpa24
Bond graph approach for dynamic modelling of the biped robot and application to obstacle avoidance
2019
Journal of the Brazilian Society of Mechanical Sciences and Engineering
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This paper deals with the modelling and obstacle avoidance of a biped robot. At first, the bond graph-based three-dimensional model of the biped is proposed. ...
The robot walking scheme depends upon the oscillating cylinder mechanism. Two DC motors are actuating the prismatic leg of the robot. ...
The kinematic model of the quadruped robot by using SimMechanics tool is proposed [6] . The walking gait of the robot based on central pattern generator technique is considered. ...
doi:10.1007/s40430-019-1957-7
fatcat:3ba6pf6c5jaynid5eusd6diirq
OpenSHC: A Versatile Multilegged Robot Controller
2020
IEEE Access
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Multilegged robots have the ability to perform stable locomotion on relatively rough terrain. However, the complexity of legged robots over wheeled or tracked robots make them difficult to control. ...
With OpenSHC being easily configured to different physical and locomotion specifications, a hardware-based parameter space search for optimal locomotion parameters is conducted. ...
The TITAN XIII [37] , aimed to use the wider range of leg motion of an insectoid configuration on a quadruped to achieve energy efficient dynamic walking. ...
doi:10.1109/access.2020.3031019
fatcat:cazklqyvwzb5zlwgyg26az57qa
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