Onboard perception-based trotting and crawling with the Hydraulic Quadruped Robot (HyQ)

Havoutis, Ioannis; Ortiz, Jesús; Bazeille, Stéphane; Barasuol, Victor; Semini, Claudio

doi:10.1109/iros.2013.6697235

Cited by 49 publications

(28 citation statements)

References 17 publications

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“…The Dynamic Legged Systems Laboratory at IIT recently addressed different aspects of locomotion control, namely, path planning with foothold adaptation, active impedance control, energy-efficient gait generation, stereo-visionassisted locomotion, onboard perception, and local reflex generation (Winkler et al 2014;Semini et al 2013;Bazeille et al 2014;Havoutis et al 2013;Focchi et al 2013). Thus, an integrative action will be taken to combine these technologies on HyQ in a synergistic fashion.…”

Section: Discussionmentioning

confidence: 99%

Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ

et al. 2015

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In this paper, we introduce a method that synergistically combines an analytical pattern generator and a feedback controller frame, which are developed for the purpose of synthesizing dynamic quadrupedal trot-walking locomotion on flat and uneven surfaces. To begin with, the pattern generator analytically produces feasible and dynamically balanced joint motions in accordance with the desired trotwalking characteristics, with no empirical parameter tuning requirements. In concurrence with the pattern generation, a two-phased controller frame is constructed for closed-loop sensory feedback: (i) virtual admittance controller via force sensing, (ii) upper torso angular momentum regulation via gyro sensing. The former controller evaluates joint force errors and generates the corresponding joint displacement Electronic supplementary material The online version of this article (for a given set of virtual spring-damper couples. Together with the position constraints, these displacements are additionally fed-back to local servos for achieving compliant quadrupedal locomotion with which the position/force tradeoff is addressed. The second controller, that is simultaneously used, evaluates the upper torso angular momentum rate change error using measured and reference orientation information. It then regulates the torso orientation in a dynamically consistent way as the rotational inertia is characterized. In order to validate the proposed methodology several experiments are conducted on both flat and uneven surfaces, using two robots with distinct properties; a ∼7 kg cat-sized electrically actuated quadruped (RoboCat-1), and a ∼80 kg Alpine Ibex-sized hydraulically actuated quadruped (HyQ). As a result we demonstrate continuous, repetitive, compliant and dynamically balanced trot-walking cycles in real-robot experiments, adequately confirming the effectiveness of the proposed approach.

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Section: Discussionmentioning

confidence: 99%

Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ

et al. 2015

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“…While some results have been shown in combination with online state estimation and mapping, the robot is tethered to an external computation and power source, and no information about obstacle height and execution speed is given. Closest to our approach is the work on the hydraulic quadruped HyQ (90 kg, 1 m height) by [9,10,11]. While still tethered, the robot has shown autonomous climbing over previously unseen obstacles.…”

Section: Switzerland Peterfankhauser@mecommentioning

confidence: 99%

Robust Rough-Terrain Locomotion with a Quadrupedal Robot

Fankhauser

Bjelonic

Bellicoso

et al. 2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

153

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Robots working in natural, urban, and industrial settings need to be able to navigate challenging environments. In this paper, we present a motion planner for the perceptive rough-terrain locomotion with quadrupedal robots. The planner finds safe footholds along with collision-free swing-leg motions by leveraging an acquired terrain map. To this end, we present a novel pose optimization approach that enables the robot to climb over significant obstacles. We experimentally validate our approach with the quadrupedal robot ANYmal by autonomously traversing obstacles such steps, inclines, and stairs. The locomotion planner re-plans the motion at every step to cope with disturbances and dynamic environments. The robot has no prior knowledge of the scene, and all mapping, state estimation, control, and planning is performed in real-time onboard the robot.

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“…Pongas et al [10] focused mainly on generating a smooth CoG trajectory independent of the foothold pattern. Previously we have experimented with coupling on-board perception with a trotting controller and a simplistic crawl gait controller [16].…”

Section: Related Workmentioning

confidence: 99%

Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots

Winkler

Havoutis

Bazeille

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-We present a framework for quadrupedal locomotion over highly challenging terrain where the choice of appropriate footholds is crucial for the success of the behaviour. We use a path planning approach which shares many similarities with the results of the DARPA Learning Locomotion challenge and extend it to allow more flexibility and increased robustness. During execution we incorporate an on-line forcebased foothold adaptation mechanism that updates the planned motion according to the perceived state of the environment. This way we exploit the active compliance of our system to smoothly interact with the environment, even when this is inaccurately perceived or dynamically changing, and update the planned path on-the-fly. In tandem we use a virtual model controller that provides the feed-forward torques that allow increased accuracy together with highly compliant behaviour on an otherwise naturally very stiff robotic system. We leverage the full set of benefits that a high performance torque controlled quadruped robot can provide and demonstrate the flexibility and robustness of our approach on a set of experimental trials of increasing difficulty.

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Onboard perception-based trotting and crawling with the Hydraulic Quadruped Robot (HyQ)

Cited by 49 publications

References 17 publications

Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ

Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ

Robust Rough-Terrain Locomotion with a Quadrupedal Robot

Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots

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