Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain
Year: 2015
Type: conference-paper
Abstract: We present a framework for dynamic quadrupedal locomotion over challenging terrain, where the choice of appropriate footholds is crucial for the success of the behaviour. We build a model of the environment on-line and on-board using an efficient occupancy grid representation. We use Any-time-Repairing A∗ (ARA∗) to search over a tree of possible actions, choose a rough body path and select the locally-best footholds accordingly. We run a n-step lookahead optimization of the body trajectory using a dynamic stability metric, the Zero Moment Point (ZMP), that generates natural dynamic whole-body motions. A combination of floating-base inverse dynamics and virtual model control accurately executes the desired motions on an actively compliant system. Experimental trials show that this framework allows us to traverse terrains at nearly 6 times the speed of our previous work, evaluated over the same set of trials.
Authors: Winkler, Alexander W., Mastalli, Carlos, Havoutis, Ioannis, Focchi, Michele, Caldwell, Darwin G., Semini, Claudio
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W3099855898