Real-time Optimal Landing Control of the MIT Mini Cheetah

Jeon, Se Hwan; Kim, Sangbae; Kim, Dong-Hyun

doi:10.48550/arxiv.2110.02799

Cited by 3 publications

(2 citation statements)

References 27 publications

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“…If the flywheels were not used, Solo12 fell after touch-down. Instead, when using the flywheels it was possible to drive the robot to a safe configuration after landing ( Figure 8 ), without the need to implement a specific landing strategy, such as the one in [ 27 ].…”

Section: Results Of Simulationsmentioning

confidence: 99%

Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots

Roscia

Cumerlotti

Prete

et al. 2023

Sensors

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For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvented with standard locomotion gaits. In these cases, the robot must perform a leap to either jump onto the obstacle or fly over it. However, these movements represent a challenge, because, during the flight phase, the Center of Mass (CoM) cannot be controlled, and there is limited controllability over the orientation of the robot. This paper focuses on the latter issue and proposes an Orientation Control System (OCS), consisting of two rotating and actuated masses (flywheels or reaction wheels), to gain control authority on the orientation of the robot. Due to the conservation of angular momentum, the rotational velocity if the robot can be adjusted to steer the robot’s orientation, even when the robot has no contact with the ground. The axes of rotation of the flywheels are designed to be incident, leading to a compact orientation control system that is capable of controlling both roll and pitch angles, considering the different moments of inertia in the two directions. The concept was tested by means of simulations on the robot Solo12.

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Section: Results Of Simulationsmentioning

confidence: 99%

Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots

Roscia

Cumerlotti

Prete

et al. 2023

Sensors

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“…In recent years, with the combined democratization of commercially available quadrupedal platforms and openly available deep reinforcement learning frameworks, various new tasks have been demonstrated. Notable examples include jumping and climbing (8)(9)(10)(11), performing cat-like landing motions (12,13), recovering from…”

Section: Related Workmentioning

confidence: 99%

ANYmal parkour: Learning agile navigation for quadrupedal robots

Hoeller,

Rudin,

Sako

et al. 2024

Sci. Robot.

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Performing agile navigation with four-legged robots is a challenging task because of the highly dynamic motions, contacts with various parts of the robot, and the limited field of view of the perception sensors. Here, we propose a fully learned approach to training such robots and conquer scenarios that are reminiscent of parkour challenges. The method involves training advanced locomotion skills for several types of obstacles, such as walking, jumping, climbing, and crouching, and then using a high-level policy to select and control those skills across the terrain. Thanks to our hierarchical formulation, the navigation policy is aware of the capabilities of each skill, and it will adapt its behavior depending on the scenario at hand. In addition, a perception module was trained to reconstruct obstacles from highly occluded and noisy sensory data and endows the pipeline with scene understanding. Compared with previous attempts, our method can plan a path for challenging scenarios without expert demonstration, offline computation, a priori knowledge of the environment, or taking contacts explicitly into account. Although these modules were trained from simulated data only, our real-world experiments demonstrate successful transfer on hardware, where the robot navigated and crossed consecutive challenging obstacles with speeds of up to 2 meters per second.

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Design, Analysis and Experiments of Hexapod Robot with Six-Link Legs for High Dynamic Locomotion

Qiu

Guo

et al. 2022

Micromachines

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An important feature of a legged robot is its dynamic motion performance. Traditional methods often improve the dynamic motion performance by reducing the moment of inertia of robot legs or by adopting quasi-direct drive actuators. This paper proposes a method to enhance the dynamic performance of a legged robot by transmission mechanism. Specifically, we present a unique six-link leg mechanism that can implement a large output motion using a small drive motion. This unique feature can enhance the robots’ dynamic motion capability. Experiments with a hexapod robot verified the effectiveness of the mechanism. The experimental results showed that, when the steering gear of the robot rotates 1°, the toe can lift 7 mm (5% of body height), and the maximum running speed of the robot can reach 390 mm/s (130% of the moveable body length per second).

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Real-time Optimal Landing Control of the MIT Mini Cheetah

Cited by 3 publications

References 27 publications

Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots

Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots

ANYmal parkour: Learning agile navigation for quadrupedal robots

Design, Analysis and Experiments of Hexapod Robot with Six-Link Legs for High Dynamic Locomotion

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