A Comprehensive Software Framework for Complex Locomotion and Manipulation Tasks Applicable to Different Types of Humanoid Robots

Kohlbrecher, Stefan; Stumpf, Alexander; Romay, Alberto; Schillinger, Philipp; Stryk, Oskar von; Conner, David C.

doi:10.3389/frobt.2016.00031

Cited by 10 publications

(3 citation statements)

References 26 publications

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“…A concept similar to our work has been discussed in [9] and [10]. In the former the HAL has been extended (and is limited to) to more abstract input types such as feet and base velocities relative to the ground.…”

Section: Endeffectortrajectorymentioning

confidence: 99%

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Free Gait — An architecture for the versatile control of legged robots

Fankhauser

Bellicoso

Gehring

et al. 2016

2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)

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Abstract-This paper introduces Free Gait, a software framework for the control of robust, versatile, and task-oriented control of legged robots. In contrast to common hardware abstraction layers, this work focusses on the description and execution of generic whole-body motions (whole-body abstraction layer). The motion generation and motion execution algorithms are connected through the Free Gait API. This facilitates the development and execution of higher level behaviors and motion planning algorithms. The API is structured to accommodate a variety of task-space control commands. With these, the framework is applicable to intuitive tele-operation of the robot, scripting of user defined behaviors, and fully autonomous operation with motion planners. The defined motion plans are tracked with a feedback whole-body controller to ensure accurate and robust motion execution. We use Free Gait with our quadrupedal robot ANYmal and present results for rough terrain climbing, whole-body stair scaling, and special motions such as push-ups and squad jumps. Free Gait is available open-source and compatible with any type of legged robot, independent of the number of legs and joints.

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Section: Endeffectortrajectorymentioning

confidence: 99%

“…was then combined as weighted sum to command the robot. In the more recent work [10], a structure for the intuitive remote control of a Humanoid is proposed. It is based on the definition of desired joint angles, Cartesian goals for the end-effector, and pelvis poses.…”

Section: Endeffectortrajectorymentioning

confidence: 99%

Free Gait — An architecture for the versatile control of legged robots

Fankhauser

Bellicoso

Gehring

et al. 2016

2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)

View full text Add to dashboard Cite

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“…Another architecture to handle the robot's software modules is given in [8]. In this work, the authors present an architecture that provides to the operator control of the robot in different situations.…”

Section: Introductionmentioning

confidence: 99%

Ctrl-MORE: A Framework to Integrate Controllers of Multi-DoF Robot for Developers and Users

Castano

Kryczka

Delhaisse

et al. 2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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In recent years, many different feedback controllers for robotic applications have been proposed and implemented. However, the high coupling between the different software modules made their integration into one common architecture difficult. Consequently, this has hindered the ability of a user to employ the different controllers into a single, general and modular framework.To address this problem, we present Ctrl-MORE, a software architecture developed to fill the gap between control developers and other users in robotic applications. On one hand, Ctrl-MORE aims to provide developers with an opportunity to integrate easily and share their controllers with other roboticists working in different areas. For example, manipulation, locomotion, vision and so on. On the other hand, it provides to end-users a tool to apply the additional control strategies that guarantee the execution of desired behaviors in a transparent, yet efficient way. The proposed control architecture allows an easier integration of general purpose feedback controllers, such as stabilizers, with higher control layers such as trajectory planners, increasing the robustness of the overall system.

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Collaborative Autonomy Between High-Level Behaviors and Human Operators for Control of Complex Tasks with Different Humanoid Robots

Conner

Kohlbrecher

Schillinger

et al. 2018

Springer Tracts in Advanced Robotics

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show abstract

A Comprehensive Software Framework for Complex Locomotion and Manipulation Tasks Applicable to Different Types of Humanoid Robots

Cited by 10 publications

References 26 publications

Free Gait — An architecture for the versatile control of legged robots

Free Gait — An architecture for the versatile control of legged robots

Ctrl-MORE: A Framework to Integrate Controllers of Multi-DoF Robot for Developers and Users

Collaborative Autonomy Between High-Level Behaviors and Human Operators for Control of Complex Tasks with Different Humanoid Robots

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