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A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots
In the context of legged robotics, many criteria based on the control of the Center of Mass (CoM) have been developed to ensure a stable and safe robot locomotion. Defining a whole-body framework with the control of the CoM requires a planning strategy, often based on a specific type of gait and a r...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2020
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805836/ https://www.ncbi.nlm.nih.gov/pubmed/33501304 http://dx.doi.org/10.3389/frobt.2020.528473 |
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author | Raiola, Gennaro Mingo Hoffman, Enrico Focchi, Michele Tsagarakis, Nikos Semini, Claudio |
author_facet | Raiola, Gennaro Mingo Hoffman, Enrico Focchi, Michele Tsagarakis, Nikos Semini, Claudio |
author_sort | Raiola, Gennaro |
collection | PubMed |
description | In the context of legged robotics, many criteria based on the control of the Center of Mass (CoM) have been developed to ensure a stable and safe robot locomotion. Defining a whole-body framework with the control of the CoM requires a planning strategy, often based on a specific type of gait and a reliable state-estimation. In a whole-body control approach, if the CoM task is not specified, the consequent redundancy can still be resolved by specifying a postural task that set references for all the joints. Therefore, the postural task can be exploited to keep a well-behaved, stable kinematic configuration. In this work, we propose a generic locomotion framework which is able to generate different kind of gaits, ranging from very dynamic gaits, such as the trot, to more static gaits like the crawl, without the need to plan the CoM trajectory. Consequently, the whole-body controller becomes planner-free and it does not require the estimation of the floating base state, which is often prone to drift. The framework is composed of a priority-based whole-body controller that works in synergy with a walking pattern generator. We show the effectiveness of the framework by presenting simulations on different types of simulated terrains, including rough terrain, using different quadruped platforms. |
format | Online Article Text |
id | pubmed-7805836 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-78058362021-01-25 A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots Raiola, Gennaro Mingo Hoffman, Enrico Focchi, Michele Tsagarakis, Nikos Semini, Claudio Front Robot AI Robotics and AI In the context of legged robotics, many criteria based on the control of the Center of Mass (CoM) have been developed to ensure a stable and safe robot locomotion. Defining a whole-body framework with the control of the CoM requires a planning strategy, often based on a specific type of gait and a reliable state-estimation. In a whole-body control approach, if the CoM task is not specified, the consequent redundancy can still be resolved by specifying a postural task that set references for all the joints. Therefore, the postural task can be exploited to keep a well-behaved, stable kinematic configuration. In this work, we propose a generic locomotion framework which is able to generate different kind of gaits, ranging from very dynamic gaits, such as the trot, to more static gaits like the crawl, without the need to plan the CoM trajectory. Consequently, the whole-body controller becomes planner-free and it does not require the estimation of the floating base state, which is often prone to drift. The framework is composed of a priority-based whole-body controller that works in synergy with a walking pattern generator. We show the effectiveness of the framework by presenting simulations on different types of simulated terrains, including rough terrain, using different quadruped platforms. Frontiers Media S.A. 2020-11-19 /pmc/articles/PMC7805836/ /pubmed/33501304 http://dx.doi.org/10.3389/frobt.2020.528473 Text en Copyright © 2020 Raiola, Mingo Hoffman, Focchi, Tsagarakis and Semini. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Robotics and AI Raiola, Gennaro Mingo Hoffman, Enrico Focchi, Michele Tsagarakis, Nikos Semini, Claudio A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots |
title | A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots |
title_full | A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots |
title_fullStr | A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots |
title_full_unstemmed | A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots |
title_short | A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots |
title_sort | simple yet effective whole-body locomotion framework for quadruped robots |
topic | Robotics and AI |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805836/ https://www.ncbi.nlm.nih.gov/pubmed/33501304 http://dx.doi.org/10.3389/frobt.2020.528473 |
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