Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots

Clemente, Luca; Villarreal, Octavio; Bratta, Angelo; Focchi, Michele; Barasuol, Victor; Muscolo, Giovanni Gerardo; Semini, Claudio

doi:10.1109/icra46639.2022.9812434

Cited by 9 publications

(7 citation statements)

References 31 publications

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“…Redundant robots are increasingly attracting attention in the field of Human-Robot Collaboration (HRC), given their technological advancements and complexity, but, above all, thanks to their extended capabilities and potentials. Their development is originally related to humanoids (Kashiri et al, 2019) and animal-shaped (Clemente et al, 2022) to continuum robots (Chirikjian, 1993). However, they are extremely costly and tailored to niche applications and their use is often inadequate for industrial environments, in which currently the highest number of robots is employed.…”

Section: Introductionmentioning

confidence: 99%

Multi-Modal and Adaptive Control of Human-Robot Interaction through Hierarchical Quadratic Programming

Tassi

Ajoudani

2023

Preprint

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This paper proposes a novel Hierarchical Quadratic Programming (HQP)-based framework that enables multi-tasking control under multiple Human-Robot Interaction (HRI) scenarios. The objective is to create a unique framework for various types of HRI control modalities, avoiding the necessity of switching between different controllers that are usually tailored to a specific task. To achieve this, we firstly propose a HQP-based hybrid Cartesian/joint space impedance control formulation. This is based on the system's dynamics and provides an adaptive compliance behaviour during HRI, while performing hierarchical motion control. This is validated through a series of experiments that show the accuracy of trajectory tracking and the variable compliance behaviour. We then consider the case in which the human needs to move the robot by acting directly onto it, by proposing a hybrid admittance/impedance hierarchical control, which is then validated through several experiments in which the human moves the robot in the workspace. Next, we formulate a HQP-based force controller for HRI applications in which a specific interaction force must be maintained and lastly, we extend this to simultaneous force and trajectory tracking for applications that need higher position accuracy. Further experiments are conducted, to validate the proposed framework, using a redundant mobile manipulator. Overall, we obtain a single multi-purpose HQP-based control framework, that can switch continuously between interaction modes, enclosing multiple behaviours adjusted online based on the type of interaction.

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Section: Introductionmentioning

confidence: 99%

Multi-Modal and Adaptive Control of Human-Robot Interaction through Hierarchical Quadratic Programming

Tassi

Ajoudani

2023

Preprint

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“…In the following work (Fahmi et al, 2019; Mastalli et al, 2020), the passive whole‐body control and orientation planning methods were introduced into the control of the HyQ quadruped robot over rough terrain. Clemente et al (2022) proposed a foothold evaluation criterion that considers the transition feasibility for both linear and angular dynamics to overcome complex scenarios.…”

Section: Introductionmentioning

confidence: 99%

Whole‐body motion planning and control of a quadruped robot for challenging terrain

Chen

Rong

et al. 2023

Journal of Field Robotics

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Quadruped robots working in jungles, mountains or factories should be able to move through challenging scenarios. In this paper, we present a control framework for quadruped robots walking over rough terrain. The planner plans the trajectory of the robot's center of gravity by using the normalized energy stability criterion, which ensures that the robot is in the most stable state. A contact detection algorithm based on the probabilistic contact model is presented, which implements eventbased state switching of the quadruped robot legs. And an on-line detection of contact force based on generalized momentum is also showed, which improves the accuracy of proprioceptive force estimation. A controller combining whole body control and virtual model control is proposed to achieve precise trajectory tracking and active compliance with environment interaction. Without any knowledge of the environment, the experiments of the quadruped robot SDUQuad-144 climbs over significant obstacles such as 38 cm high steps and 22.5 cm high stairs are designed to verify the feasibility of the proposed method.

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“…In the face of environmental variations and drift phenomena in motion, Cebe et al [17] used an online dynamic planner and control framework while optimising multi-step base and foothold trajectories with fast planning capabilities. By fusing the perceptual layer to ensure motion stability, Clemente et al [18] combined foothold evaluation criteria with a vision-based adaptive strategy to devise convex and non-linear formulations to generate feasible CoM trajectories to overcome complex situations. To further ensure stability during gait switching, Li et al [19] implemented smooth gait planning and stability control based on the central pattern generator (CPG) and ZMP control algorithm.…”

Section: Introductionmentioning

confidence: 99%

“…By fusing the perceptual layer to ensure motion stability, Clemente et al. [18] combined foothold evaluation criteria with a vision‐based adaptive strategy to devise convex and non‐linear formulations to generate feasible CoM trajectories to overcome complex situations. To further ensure stability during gait switching, Li et al.…”

Section: Introductionmentioning

confidence: 99%

Body trajectory optimisation of walking gait for a quadruped robot

Zhang

Zhu

Cao

et al. 2023

IET Cyber-Syst and Robotics

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To ensure that the robot can follow the planned trajectory, smooth switching between swinging legs and a smooth transition of motion process is realised. The previous motion planning work is analysed, and a method for improving the optimisation objective function and constraint conditions is proposed to eliminate the sudden change of acceleration and reduce the peak value of acceleration change. This method eliminates the impact phenomenon in the motor drive process and reduces the motor drive energy consumption, thus ensuring the smooth and consistent movement of the robot. The results show that the improved optimisation method has a better motion effect than the previous approach in terms of centre of mass motion speed, trajectory fitting and body posture change, and realises more robust motion of quadruped robots in a senseless state.

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Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots

Cited by 9 publications

References 31 publications

Multi-Modal and Adaptive Control of Human-Robot Interaction through Hierarchical Quadratic Programming

Multi-Modal and Adaptive Control of Human-Robot Interaction through Hierarchical Quadratic Programming

Whole‐body motion planning and control of a quadruped robot for challenging terrain

Body trajectory optimisation of walking gait for a quadruped robot

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