Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Using Linearized ZMP Constraints

被引：74

作者：

de Viragh, Yvain ^{[1
]}

Bjelonic, Marko ^{[1
]}

Bellicoso, C. Dario ^{[1
]}

Jenelten, Fabian ^{[1
]}

Hutter, Marco ^{[1
]}

机构：

[1] Swiss Fed Inst Technol, Robot Syst Lab, CH-8092 Zurich, Switzerland

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2019年 / 4卷 / 02期

基金：

瑞士国家科学基金会;

关键词：

Legged robots; wheeled robots; motion and path planning; optimization and optimal control;

D O I：

10.1109/LRA.2019.2896721

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We present a trajectory optimizer for quadrupedal robots with actuated wheels. By solving for angular, vertical, and planar components of the base and feet trajectories in a cascaded fashion and by introducing a novel linear formulation of the zero-moment point balance criterion, we rely on quadratic programming only, thereby eliminating the need for nonlinear optimization routines. Yet, even for gaits containing full flight phases, we are able to generate trajectories for executing complex motions that involve simultaneous driving, walking, and turning. We verified our approach in simulations of the quadrupedal robot ANYmal equipped with wheels, where we are able to run the proposed trajectory optimizer at 50 Hz. To the best of our knowledge, this is the first time that such dynamic motions are demonstrated for wheeled-legged quadrupedal robots using an online motion planner.

引用

页码：1633 / 1640

页数：8

共 33 条

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[32]

Winkler AW, 2015, IEEE INT CONF ROBOT, P5148, DOI 10.1109/ICRA.2015.7139916

[33]

Winkler AW., 2018, Tutorial: gait and trajectory optimization for legged robots

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