2008.12687.pdf (6.7 MB)
Online dynamic trajectory optimization and control for a quadruped robot
conference contribution
posted on 2023-06-10, 02:02 authored by Oguzhan Cebe, Carlo TiseoCarlo Tiseo, Guiyang Xin, Hsiu-chin Lin, Joshua Smith, Michael MistryLegged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep trajectories for multiple steps. The locomotion task can be defined with contact locations, base motion or both, making the algorithm suitable for multiple scenarios (e.g., presence of moving obstacles). The planner uses a simplified momentum based task space model for the robot dynamics, allowing computation times that are fast enough for online replanning. This fast planning capability also enables the quadruped to accommodate for drift and environmental changes. The algorithm is tested on simulation and a real robot across multiple scenarios, which includes uneven terrain, stairs and moving obstacles. The results show that the planner is capable of generating stable trajectories in the real robot even when a box of 15 cm height is placed in front of its path at the last moment.
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Publication status
- Published
File Version
- Accepted version
Journal
2021 IEEE International Conference on Robotics and Automation (ICRA)ISSN
1050-4729Publisher
IEEEExternal DOI
Page range
12773-12779Event name
2021 IEEE International Conference on Robotics and Automation (ICRA)Event location
Xi'an, ChinaEvent type
conferenceEvent date
30 May 2021 - 5 Jun 2021ISBN
9781728190785Department affiliated with
- Engineering and Design Publications
Notes
© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksFull text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2021-12-20First Open Access (FOA) Date
2021-12-20First Compliant Deposit (FCD) Date
2021-12-20Usage metrics
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