Dynamic locomotion and whole-body control for quadrupedal robots

Bellicoso, C. Dario; Jenelten, Fabian; Fankhauser, Péter; Gehring, Christian; Hwangbo, Jemin; Hutter, Marco

doi:10.1109/iros.2017.8206174

Cited by 88 publications

(103 citation statements)

References 17 publications

(32 reference statements)

Supporting

Mentioning

102

Contrasting

Unclassified

Order By: Relevance

“…We build on our previous work [2] which described how to produce a motion plan for the x and y coordinates of the Center of Mass (CoM) which can be tracked by a quadrupedal robot. In that case, the reference height of the CoM was set to a user-specified value and tracked by the controller.…”

Section: Motion Optimizationmentioning

confidence: 99%

“…1) Cost function: As done in [23] and [2], we minimize the acceleration of the entire motion plan. To do this, we set a quadratic cost computed for spline segment as We assume that these are constant over the optimization horizon (which is a valid assumption if they change at a much slower rate than the optimization update frequency), hence we can compute the final position as…”

Section: B Center Of Mass Optimizationmentioning

confidence: 99%

“…In our previous works ( [10], [2]) we have computed reference footholds using a linear inverted pendulum model [10] which predicts the next foothold as a function of the measured and desired velocity of the torso. This method has shown to add robustness to the real system in case of external disturbances or deviation from the reference motion.…”

Section: Foothold Optimizationmentioning

confidence: 99%

“…The method used to generate a sequence of support polygons is similar to the one presented in [2]. Each gait is described by a contact schedule, which in turn defines lift-off and touch-down events for each leg over a complete gait stride.…”

Section: Support Polygon Sequencementioning

confidence: 99%

“…In our previous work [2], we have advanced the capabilities of ANYmal by demonstrating dynamic lateral walking, pacing and gait transitions between these gaits. The method relied on a simplified and linearized Zero-Moment Point (ZMP, [21]) model to generate planar Center of Mass (CoM) motion plans, which were executed in an MPC-like fashion, relying on a hierarchical whole-body controller to track the reference motion.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots

Bellicoso

Jenelten

Gehring

et al. 2018

IEEE Robot. Autom. Lett.

Self Cite

155

192

View full text Add to dashboard Cite

Section: Motion Optimizationmentioning

confidence: 99%

Section: B Center Of Mass Optimizationmentioning

confidence: 99%

Section: Foothold Optimizationmentioning

confidence: 99%

Section: Support Polygon Sequencementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots

Bellicoso

Jenelten

Gehring

et al. 2018

IEEE Robot. Autom. Lett.

Self Cite

155

192

View full text Add to dashboard Cite

A Review of Quadruped Robots: Structure, Control, and Autonomous Motion

Fan,

Pei,

Wang

et al. 2024

Advanced Intelligent Systems

View full text Add to dashboard Cite

With their unique point‐contact ability with the ground and exceptional adaptability to complex terrains, quadruped robots have become a focal point in the fields of automation and robotic engineering. Significant research progress has been made in aspects such as structural design, motion planning, and balance control of these robots. However, a primary challenge in current research lies in further enhancing the dynamic performance, environmental adaptability, and payload capacity. In this article, research achievements in key technical areas of quadruped robots, encompassing structural design, gait planning, traditional control strategies, intelligent control strategies, and autonomous movement, are comprehensively discussed. The focus of the article is on analyzing trends in intelligence and technological innovation within the aforementioned areas, aiming to provide robust theoretical support and forward‐looking technical guidance for quadruped robots research. Additionally, it offers valuable references for scholars engaged in this field.

show abstract

Inverse dynamics‐based formulation of finite horizon optimal control problems for rigid‐body systems

Katayama

Ohtsuka

2021

Optim Control Appl Methods

View full text Add to dashboard Cite

We propose a formulation of the finite horizon optimal control problem (FHOCP) based on inverse dynamics for general open-chain rigid-body systems, which reduces the computational cost from the conventional formulation based on forward dynamics. We regard the generalized acceleration as a decision variable and inverse dynamics as an equality constraint. To treat under-actuated systems with inverse dynamics that are well defined only to fully actuated systems, that is, to consider passive joints in this FHOCP, we add an equality constraint to zero the corresponding generalized torques. We include the contact forces in the decision variables of this FHOCP and treat the contact constraints using Baumgarte's stabilization method for numerical stability. We derive the optimality conditions and formulate the two-point boundary-value problem that can be efficiently solved using the recursive Newton-Euler algorithm (RNEA) and the partial derivatives of RNEA. We conducted three numerical experiments on model predictive control based on the proposed formulation to demonstrate its effectiveness. The first experiment involved simulating a swing-up control of a four-link arm with a passive joint and showed that the proposed formulation is effective for under-actuated systems. The second one involved comparing the proposed formulation with the conventional forward-dynamics-based formulation with various numbers of joints and showed that the proposed formulation reduces computational cost regardless of the number of joints. The third experiment involved simulating a whole-body control of a quadruped robot, a floating-base system having four contacts with the ground, and showed that the proposed formulation is applicable even for floating-base systems with contacts.

show abstract

Dynamic locomotion and whole-body control for quadrupedal robots

Cited by 88 publications

References 17 publications

Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots

Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots

A Review of Quadruped Robots: Structure, Control, and Autonomous Motion

Inverse dynamics‐based formulation of finite horizon optimal control problems for rigid‐body systems

Contact Info

Product

Resources

About