Ball walker: A case study of humanoid robot locomotion in non-stationary environments

Zheng, Yu; Yamane, Katsu

doi:10.1109/icra.2011.5979806

Cited by 10 publications

(4 citation statements)

References 20 publications

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“…For locomotion on a DRS whose motions are affected by the robot (e.g., passive and relatively lightweight surfaces), several reduced-order robot dynamics models have been recently introduced, including extended LIP [22], centroidal dynamics [23], and rimless-wheel models [24]. Still, it is unclear how to extend these models to DRSes whose motion cannot be affected by the robot (e.g., trains, vessels, and elevators).…”

Section: A Reduced-order Models Of Legged Locomotion On Stationary Or...mentioning

confidence: 99%

Real-Time Walking Pattern Generation of Quadrupedal Dynamic-Surface Locomotion based on a Linear Time-Varying Pendulum Model

Iqbal¹,

Veer²,

Gu³

2023

Preprint

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This study introduces an analytically tractable and computationally efficient model of the legged robot dynamics associated with locomotion on a dynamic rigid surface (DRS), and develops a real-time motion planner based on the proposed model and its analytical solution. This study first theoretically extends the classical linear inverted pendulum (LIP) model from legged locomotion on a static surface to DRS locomotion, by relaxing the LIP's underlying assumption that the surface is static. The resulting model, which we call "DRS-LIP", is explicitly time-varying. After converting the DRS-LIP into Mathieu's equation, an approximate analytical solution of the DRS-LIP is obtained, which is reasonably accurate with a low computational cost. Furthermore, to illustrate the practical uses of the analytical results, they are exploited to develop a hierarchical motion planner that efficiently generates physically feasible trajectories for DRS locomotion. Finally, the effectiveness of the proposed theoretical results and motion planner is demonstrated both through PyBullet simulations and experimentally on a Laikago quadrupedal robot that walks on a rocking treadmill. The videos of simulations and hardware experiments are available at https://youtu.be/u2Q_u2pR99c.

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Section: A Reduced-order Models Of Legged Locomotion On Stationary Or...mentioning

confidence: 99%

Real-Time Walking Pattern Generation of Quadrupedal Dynamic-Surface Locomotion based on a Linear Time-Varying Pendulum Model

Iqbal¹,

Veer²,

Gu³

2023

Preprint

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“…For legged locomotion on a rigid surface whose motions are affected by the robot (e.g., passive and relatively lightweight surfaces), several reduced-order models have been derived and analyzed, including the LIP [17], [18], centroidal dynamics [19], and rimless-wheel model [20]. Yet, these models may not be valid for robot walking over a rigid surface whose motion is not affected by the robot (e.g., trains, vessels, and elevators).…”

Section: B Reduced-order Models Of Dynamic Surface Locomotionmentioning

confidence: 99%

DRS-LIP: Linear Inverted Pendulum Model for Legged Locomotion on Dynamic Rigid Surfaces

Iqbal¹,

Veer²,

Gu³

2022

Preprint

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Legged robot locomotion on a dynamic rigid surface (i.e., a rigid surface moving in the inertial frame) involves complex full-order dynamics that is high-dimensional, nonlinear, and time-varying. Towards deriving an analytically tractable dynamic model, this study theoretically extends the reduced-order linear inverted pendulum (LIP) model from legged locomotion on a stationary surface to locomotion on a dynamic rigid surface (DRS). The resulting model is herein termed as DRS-LIP. Furthermore, this study introduces an approximate analytical solution of the proposed DRS-LIP that is computationally efficient with high accuracy. To illustrate the practical uses of the analytical results, they are used to develop a hierarchical planning framework that efficiently generates physically feasible trajectories for DRS locomotion. The effectiveness of the proposed theoretical results and motion planner is demonstrated both through simulations and experimentally on a Laikago quadrupedal robot that walks on a rocking treadmill.

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“…A dynamic legged manipulation task has been partially implemented in [16] for a bipedal robot balancing on and manipulating a ball. It consists of a balance controller and a footstep planner but only for 2D implementation.…”

Section: Related Workmentioning

confidence: 99%

Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization

Yang

Zhang

Zeng

et al. 2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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The feet of robots are typically used to design locomotion strategies, such as balancing, walking, and running. However, they also have great potential to perform manipulation tasks. In this paper, we propose a model predictive control (MPC) framework for a quadrupedal robot to dynamically balance on a ball and simultaneously manipulate it to follow various trajectories such as straight lines, sinusoids, circles and in-place turning. We numerically validate our controller on the Mini Cheetah robot using different gaits including trotting, bounding, and pronking on the ball.

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Ball walker: A case study of humanoid robot locomotion in non-stationary environments

Cited by 10 publications

References 20 publications

Real-Time Walking Pattern Generation of Quadrupedal Dynamic-Surface Locomotion based on a Linear Time-Varying Pendulum Model

Real-Time Walking Pattern Generation of Quadrupedal Dynamic-Surface Locomotion based on a Linear Time-Varying Pendulum Model

DRS-LIP: Linear Inverted Pendulum Model for Legged Locomotion on Dynamic Rigid Surfaces

Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization

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