Reactive posture behaviors for stable legged locomotion over steep inclines and large obstacles

Roennau, Arne; Heppner, G.; Nowicki, Michał; Zoellner, J. Marius; Dillmann, Rüdiger

doi:10.1109/iros.2014.6943257

Cited by 38 publications

(23 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Walking on slopes has been a topic of active interest since the early days of legged robotics [3], [4], and it continues to be heavily researched in recent years [5], [6], [7], [8], [9]. Most of the existing body of work on this topic deals with statically stable gaits.…”

Section: A Related Workmentioning

confidence: 99%

“…Methods in the first category either have perfect knowledge about the environment -information that can be used for planning footholds, as demonstrated on LittleDog [8], or estimate a rough set of parameters that can be used to model the terrain. This approach was recently employed to enable a hexapedal robot, Lauron, to perform static walking on slopes [9]. In this work, the slope of the terrain was estimated by fitting a plane through the support legs.…”

Section: A Related Workmentioning

confidence: 99%

“…The configuration of the legs can also be adapted. For instance, the extension of the legs can be adapted using neural control systems [12], [5], and for robot legs exhibiting kinematic redundancies, the orientation of the leg segments with respect to the vertical direction can also be controlled, as executed by Lauron with its additional joint [9]. In addition to controlling kinematic parameters such as the pose of the body or the configuration of the legs, torquecontrolled robots have the important ability of precisely modulating the ground reaction forces applied by the stance feet, such that slipping is reduced or eliminated altogether [13], [8].…”

Section: A Related Workmentioning

confidence: 99%

“…The plane parameters can be trivially computed as long as at least three legs are in contact with the ground as shown in [9]. However, for the trotting gait that we consider, only two legs are commonly in contact with the ground at any moment in time.…”

Section: Estimation Of the Terrainmentioning

confidence: 99%

See 3 more Smart Citations

Dynamic trotting on slopes for quadrupedal robots

Gehring

Bellicoso

Coros

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

Abstract-Quadrupedal locomotion on sloped terrains poses different challenges than walking in a mostly flat environment. The robot's configuration needs to be explicitly controlled in order to avoid slipping and kinematic limits. To this end, information about the terrain's inclination is required for carefully planning footholds, the pose of the main body, and modulation of the ground reaction forces. This is even more important for dynamic trotting, as only two support legs are available to compensate for gravity and drive a desired motion. We propose a reliable method for estimating the parameters of the terrain quadrupedal robots move on, in the face of limited perception capabilities and drifting robot pose estimates. By fusing inertial measurements, kinematic data from joint encoders and contact information from force sensors, the local inclination can be robustly estimated and used to optimize the contact forces to reduce slippage. The estimated terrain information, namely the pitch and roll angles of the ground plane, is exploited in an extended version of our previous modelbased control approach. Our improved control framework enabled StarlETH, a medium-sized, fully autonomous, torquecontrollable quadrupedal robot, to trot on slopes of up to 21• .

show abstract

Section: A Related Workmentioning

confidence: 99%

Section: A Related Workmentioning

confidence: 99%

Section: A Related Workmentioning

confidence: 99%

Section: Estimation Of the Terrainmentioning

confidence: 99%

See 2 more Smart Citations

Dynamic trotting on slopes for quadrupedal robots

Gehring

Bellicoso

Coros

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

show abstract

“…For a robot executing a statically stable walk where three feet are always in contact with the ground, this can be done by fitting a plane through the three contact points. 6 Estimating the ground normal during dynamic walking with only two feet in contact with the ground was presented using the history of the footholds. 4 Proactive control strategies have been shown to work on much more challenging terrain, however they require prior knowledge of the terrain.…”

Section: Introductionmentioning

confidence: 99%

Foot Contact Estimation for Legged Robots in Rough Terrain

WAGNER¹,

FANKHAUSER²,

BLOESCH³

et al. 2016

Advances in Cooperative Robotics

View full text Add to dashboard Cite

Weaver: Hexapod robot for autonomous navigation on unstructured terrain

Bjelonic

Kottege

Homberger

et al. 2018

Journal of Field Robotics

View full text Add to dashboard Cite

Legged robots are an efficient alternative for navigation in challenging terrain. In this paper we describe Weaver, a six‐legged robot that is designed to perform autonomous navigation in unstructured terrain. It uses stereo vision and proprioceptive sensing based terrain perception for adaptive control while using visual‐inertial odometry for autonomous waypoint‐based navigation. Terrain perception generates a minimal representation of the traversed environment in terms of roughness and step height. This reduces the complexity of the terrain model significantly, enabling the robot to feed back information about the environment into its controller. Furthermore, we combine exteroceptive and proprioceptive sensing to enhance the terrain perception capabilities, especially in situations in which the stereo camera is not able to generate an accurate representation of the environment. The adaptation approach described also exploits the unique properties of legged robots by adapting the virtual stiffness, stride frequency, and stride height. Weaver's unique leg design with five joints per leg improves locomotion on high gradient slopes, and this novel configuration is further analyzed. Using these approaches, we present an experimental evaluation of this fully self‐contained hexapod performing autonomous navigation on a multiterrain testbed and in outdoor terrain.

show abstract

Reactive posture behaviors for stable legged locomotion over steep inclines and large obstacles

Cited by 38 publications

References 15 publications

Dynamic trotting on slopes for quadrupedal robots

Dynamic trotting on slopes for quadrupedal robots

Foot Contact Estimation for Legged Robots in Rough Terrain

Weaver: Hexapod robot for autonomous navigation on unstructured terrain

Contact Info

Product

Resources

About