Abstract
In this paper, we demonstrate a method for quadruped dynamic locomotion based oncentroidal momentum control. Our method relies on a quadratic program that solves an optimalcontrol problem to track the reference rate of change of centroidal momentum as closely as possiblewhile satisfying the dynamic, input, and contact constraints of the full quadruped robot dynamics.Given the desired footstep positions, the according reference rate of change of the centroidalmomentum is formulated as a feedback control task derived from the CoM motions of a simplifiedmodel (linear inverted pendulum) based on Capture Point dynamics. The joint accelerations and theGround Reaction Forces(GRFs) outputted from the quadratic program solver are used to calculatethe desired joint torques using an inverse dynamics algorithm. The performance of the proposedmethod is tested in simulation and on real hardware.
Highlights
Legged robots are highly mobile and can walk over rough terrain with their discontinuous support motion
This paper has demonstrated a whole-body control method based on centroidal momentum dynamics and its successful application to a quadruped robot for walking tasks
We use the concept of a virtual leg when the quadruped robot performs dynamic gaits, such as a trot
Summary
Legged robots are highly mobile and can walk over rough terrain with their discontinuous support motion. As a legged robot, quadruped robot, such as BigDog [1], Cheetah [2], Anymal [3] and HyQ [4], have a great potential for applications in complex environments. Agility and dynamic skills have been demonstrated by the Massachusetts Institute of Technology’s (MIT) Cheetah robots, which are actuated with a unique electric actuation system [2]. Cheetah 1 [5], a planar quadruped platform can run up to speeds at 3.2 m/s in plane experiments, using proprioceptive touchdown feedback and programmable leg compliance. Cheetah 2 is skilled enough to bound over obstacles using an MPC controller [6]. A time-switched impulse scaling principles, which generalize the control parameters, allowing the Cheetah 2 robot to run at speeds of up to
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