Dynamic Locomotion and Whole-Body Control for Quadrupedal Robots

被引：0

作者：

Bellicoso, C. Dario ^{[1
]}

Jenelten, Fabian ^{[1
]}

Fankhauser, Peter ^{[1
]}

Gehring, Christian ^{[1
]}

Hwangbo, Jemin ^{[1
]}

Hutter, Marco ^{[1
]}

机构：

[1] Swiss Fed Inst Technol, Robot Syst Lab, Zurich, Switzerland

来源：

2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2017年

基金：

瑞士国家科学基金会;

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a framework which allows a quadrupedal robot to execute dynamic gaits including trot, pace and dynamic lateral walk, as well as a smooth transition between them. Our method relies on an online ZMP based motion planner which continuously updates the reference motion trajectory as a function of the contact schedule and the state of the robot. The planner is coupled with a hierarchical whole-body controller which optimizes the whole-body motion and contact forces by solving a cascade of prioritized tasks. We tested our framework on ANYmal, a fully torque controllable quadrupedal robot which is actuated by series-elastic actuators.

引用

页码：3359 / 3365

页数：7

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