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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
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

Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard
2018 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)  
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]

Carlos Gonzalez, Victor Barasuol, Marco Frigerio, Roy Featherstone, Darwin G. Caldwell, Claudio Semini
2020 arXiv   pre-print
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]

Junheng Li, Junchao Ma, Quan Nguyen
2022 arXiv   pre-print
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

Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
2016 2016 IEEE International Conference on Robotics and Automation (ICRA)  
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

Dinesh K. Pai, Roderick A. Barman, Scott K. Ralph
1995 Autonomous Robots  
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]

Carlos Mastalli, Wolfgang Merkt, Guiyang Xin, Jaehyun Shim, Michael Mistry, Ioannis Havoutis, Sethu Vijayakumar
2022 arXiv   pre-print
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

Juan Carlos Arevalo, Elena Garcia
2012 IEEE Transactions on Systems Man and Cybernetics Part C (Applications and Reviews)  
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]

Michele Focchi, Romeo Orsolino, Marco Camurri, Victor Barasuol, Carlos Mastalli, Darwin G. Caldwell, Claudio Semini
2018 arXiv   pre-print
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]

Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya
2021 arXiv   pre-print
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]

Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
2022 arXiv   pre-print
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]

Abdelrahman Abdalla1, Michele Focchi, Romeo Orsolino, Claudio Semini
2020 arXiv   pre-print
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]

Benjamin Tam, Fletcher Talbot, Ryan Steindl, Alberto Elfes, Navinda Kottege
2020 arXiv   pre-print
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

Rajmeet Singh, Tarun Kumar Bera
2019 Journal of the Brazilian Society of Mechanical Sciences and Engineering  
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

Benjamin Tam, Fletcher Talbot, Ryan Steindl, Alberto Elfes, Navinda Kottege
2020 IEEE Access  
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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