One of the dominant destinies of legged robots is to traverse challenging terrains. In this paper, we present a control framework for a quadrupedal robot walking over discontinuous but flat terrains. Firstly, we analyze the kinematic characteristic of the leg and give the 3-D torque distribution. Secondly, we proposed the center of gravity (CoG) trajectory planner and foothold planner based on the map information and torque distribution. Additionally, a whole-body controller is utilized to achieve model-based compliant control. Simulation results based on the quadruped Solo-12 demonstrate that our method works well when walking over arrays of cylinders.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Quadruped’s Efficient Walking on Challenging Terrains with Perception and Whole-Body Control


    Beteiligte:
    Yu, Yao (Autor:in) / Yang, Yang (Autor:in) / Zeng, Tengteng (Autor:in) / Ding, Jiarun (Autor:in) / Sun, Haoyu (Autor:in)


    Erscheinungsdatum :

    2022-11-19


    Format / Umfang :

    896092 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Legged Mobile Robots for Challenging Terrains

    Max Q.-H. Meng / Rui Song | DOAJ | 2022

    Freier Zugriff

    Walking machine suitable for complex terrains and walking method

    WU HANLING / LU HAORAN / FAN SHUQUN et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Industrial robot walking mechanism suitable for various terrains

    WANG YUE | Europäisches Patentamt | 2023

    Freier Zugriff

    Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions

    Agha-mohammadi, Ali-akbar / Toupet, Olivier / Otsu, Kyohei et al. | NTRS | 2021


    Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions

    Agha-mohammadi, Ali-akbar / Toupet, Olivier / Otsu, Kyohei et al. | NTRS | 2021