Rolling in the Deep -- Hybrid Locomotion for Wheeled-Legged Robots using Online Trajectory Optimization

Bjelonic, Marko; Sankar, Prajish K.; Bellicoso, C. Dario; Hutter, Marco

doi:10.48550/arxiv.1909.07193

Cited by 2 publications

(2 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…More recent results on the wheeled quadrupedal robot ANYmal demonstrate robust dynamic hybrid locomotion capability. The authors of [16] [17] [18] proposed different trajectory optimization (TO) formulations. These formulations integrate the wheels into the control framework so that the robot is capable of performing walking and driving simultaneously.…”

Section: A Literature Reviewmentioning

confidence: 99%

Online Dynamic Motion Planning and Control for Wheeled Biped Robots

Xin

Vijayakumar

2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control framework to realise dynamic locomotion for wheeled biped robots. We propose the Cart-Linear Inverted Pendulum Model (Cart-LIPM) as a template model for the rolling motion and the under-actuated LIPM for contact changes while walking. The generated motion is then tracked by an inverse dynamic whole-body controller which coordinates all joints, including the wheels. The framework has a hierarchical structure and is implemented in a model predictive control (MPC) fashion. To validate the proposed approach for hybrid motion generation, two scenarios involving different types of obstacles are designed in simulation. To the best of our knowledge, this is the first time that such online dynamic hybrid locomotion has been demonstrated on wheeled biped robots.

show abstract

Section: A Literature Reviewmentioning

confidence: 99%

Online Dynamic Motion Planning and Control for Wheeled Biped Robots

Xin

Vijayakumar

2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

show abstract

“…This provides an efficient approximation but it limits the range of motion around the fixed point [8,Chapter 3]. By contrast, ANYmal [2] and Skaterbots [4] use a centroidal dynamics model [9] in a two-stage controller: One for the center of mass (CoM) and one for the wheels. This approach, therefore, fails to exploit potential combined synergies of the wheel and body dynamics.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Control of a Hybrid Wheeled Jumping Robot

Dinev

Xin

Merkt

et al. 2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright position after the loss of balance. We propose a template model for the class of such two-wheeled jumping robots. This model can be considered as the simplest wheeled-legged system. We provide an analytical derivation of the system dynamics which we use inside a model predictive controller (MPC). We study the behavior of the model and demonstrate highly dynamic motions such as swing-up and jumping. Furthermore, these motions are discovered through optimization from first principles. We evaluate the controller on a variety of tasks and uneven terrains in a simulator.

show abstract

Rolling in the Deep -- Hybrid Locomotion for Wheeled-Legged Robots using Online Trajectory Optimization

Cited by 2 publications

References 0 publications

Online Dynamic Motion Planning and Control for Wheeled Biped Robots

Online Dynamic Motion Planning and Control for Wheeled Biped Robots

Modeling and Control of a Hybrid Wheeled Jumping Robot

Contact Info

Product

Resources

About