Precision Robotic Leaping and Landing Using Stance-Phase Balance

Yim, Justin K.; Singh, Bajwa Roodra Pratap; Wang, Eric K.; Featherstone, Roy; Fearing, Ronald S.

doi:10.1109/lra.2020.2976597

Cited by 42 publications

(27 citation statements)

References 33 publications

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“…Haldane analyzed the ability of several arboreal mammals and robots, constructed a jumping robot using a leg mechanism that enhances the power modulation, achieved 78% of Gallago’s vertical jumping agility, and demonstrated the jumping ability of the constructed robot through experiments [ 6 ]. Yim achieved accurate and reliable leaping and landing on a narrow foot with the small one-legged jumping robot Salto-1P [ 7 ]. The above-mentioned robots have very light-weight legs, the torso of the robot accounts for the major proportion of the total mass and the torso mass of the robot is concentrated.…”

Section: Introductionmentioning

confidence: 99%

“…Because these robots have point foot or negligible foot in size, these approaches cannot include constraints, such as stability, non-slippage, and limitation of angular acceleration in the launch or landing phase. Therefore, the robots in [ 1 , 2 , 3 , 4 , 5 , 6 , 7 ] cannot satisfy the requirements of humanoid robots’ jumping motion.…”

Section: Introductionmentioning

confidence: 99%

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Simulation of Upward Jump Control for One-Legged Robot Based on QP Optimization

Tian

Gao

Liu

et al. 2021

Sensors

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An optimization framework for upward jumping motion based on quadratic programming (QP) is proposed in this paper, which can simultaneously consider constraints such as the zero moment point (ZMP), limitation of angular accelerations, and anti-slippage. Our approach comprises two parts: the trajectory generation and real-time control. In the trajectory generation for the launch phase, we discretize the continuous trajectories and assume that the accelerations between the two sampling intervals are constant and transcribe the problem into a nonlinear optimization problem. In the real-time control of the stance phase, the over-constrained control objectives such as the tracking of the center of moment (CoM), angle, and angular momentum, and constraints such as the anti-slippage, ZMP, and limitation of joint acceleration are unified within a framework based on QP optimization. Input angles of the actuated joints are thus obtained through a simple iteration. The simulation result reveals that a successful upward jump to a height of 16.4 cm was achieved, which confirms that the controller fully satisfies all constraints and achieves the control objectives.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Simulation of Upward Jump Control for One-Legged Robot Based on QP Optimization

Tian

Gao

Liu

et al. 2021

Sensors

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“…In the stance phase, the most common solution for jumping is to reduce the full dynamics to a canonical spring-loaded inverted pendulum (SLIP), which renders the control for legged robots computationally tractable and predicts the energy wave and ground reaction force during the jumping motion in the stance phase [ 1 ]. A nonlinear controller is employed to synchronize the biped dynamics and SLIP [ 2 , 3 , 4 , 5 , 6 ], which is an effective solution, but makes it difficult to introduce constraints, such as the stability of the robot and acceleration of the joints, into the controller or to guarantee strict prioritization in the overconstrained objective. Additionally, the majority of previous approaches focus on reducing the angular momentum in the center of mass (CoM) at the launch phase [ 7 ], and few studies have paid close attention to how to adjust the position and attitude of the robot during the flight phase.…”

Section: Introductionmentioning

confidence: 99%

“…Barkan et al [ 4 , 7 ] and Justin et al [ 5 ] maintained the angular momentum with respect to the CoM of the robot to track the desired value, ensuring that the angular momentum of the robot is small enough before the robot’s foot leaves the ground, so that the leg only needs to be swung to prepare for landing.…”

Section: Introductionmentioning

confidence: 99%

Vertical Jumping for Legged Robot Based on Quadratic Programming

Tian

Gao

Shi

et al. 2021

Sensors

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The highly dynamic legged jumping motion is a challenging research topic because of the lack of established control schemes that handle over-constrained control objectives well in the stance phase, which are coupled and affect each other, and control robot’s posture in the flight phase, in which the robot is underactuated owing to the foot leaving the ground. This paper introduces an approach of realizing the cyclic vertical jumping motion of a planar simplified legged robot that formulates the jump problem within a quadratic-programming (QP)-based framework. Unlike prior works, which have added different weights in front of control tasks to express the relative hierarchy of tasks, in our framework, the hierarchical quadratic programming (HQP) control strategy is used to guarantee the strict prioritization of the center of mass (CoM) in the stance phase while split dynamic equations are incorporated into the unified quadratic-programming framework to restrict the robot’s posture to be near a desired constant value in the flight phase. The controller is tested in two simulation environments with and without the flight phase controller, the results validate the flight phase controller, with the HQP controller having a maximum error of the CoM in the x direction and y direction of 0.47 and 0.82 cm and thus enabling the strict prioritization of the CoM.

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“…Recent advances in the interdisciplinary fields of planetary exploration [1][2][3][4][5], reconfigurable mechanism [6][7][8][9][10], and autonomous robot [11][12][13][14][15] indicate that the multifunctional and robotic detection probe will become one of the development trends. To survive in the unknown even hostile extraterrestrial environment, the complex task requirements are rendered with the hopes of merging functions of adjusting and landing, and roving and operating into a versatile counterpart-the reconfigurable legged mobile lander (ReLML).…”

Section: Introductionmentioning

confidence: 99%

Singularity Loci, Bifurcated Evolution Routes, and Configuration Transitions of Reconfigurable Legged Mobile Lander From Adjusting, Landing, to Roving

Han

Zhou

Guo

2021

Journal of Mechanisms and Robotics

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This paper presents the reconfigurable legged mobile lander (ReLML) with its modes from adjusting, landing, to roving. Based on the invented metamorphic variable-axis revolute hinge, the actuated link has three alternative phases of rotating around either of two orthogonal topological axes or locking itself to the base as a rigid body. This property enables the ReLML to switch among three modes and within two driving states (as the adjusting and roving modes are active mechanisms driven by motors, while the landing truss is regarded as a passive mechanism driven by the touchdown impact force exerted on footpad). The unified differential kinematics for the ReLML is established by the screw-based Jacobian modeling, unifying both active and passive operation phases throughout all modes. Afterward, the distributions of workspaces and singularity loci in three modes are discussed for the multi-solution sake, and the selection principle of the practicable solution pattern is proposed to obtain the actual workspace, singularity loci, and configurations. The results stemming from the Jacobian-matrix-based method and the Grassmann-geometry-based method give mutual authentication and match well. Finally, as prospects for promising applications, four bifurcated evolution routes and configuration transitions are figured out and compared.

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Precision Robotic Leaping and Landing Using Stance-Phase Balance

Cited by 42 publications

References 33 publications

Simulation of Upward Jump Control for One-Legged Robot Based on QP Optimization

Simulation of Upward Jump Control for One-Legged Robot Based on QP Optimization

Vertical Jumping for Legged Robot Based on Quadratic Programming

Singularity Loci, Bifurcated Evolution Routes, and Configuration Transitions of Reconfigurable Legged Mobile Lander From Adjusting, Landing, to Roving

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