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.


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    Title :

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


    Contributors:
    Yu, Yao (author) / Yang, Yang (author) / Zeng, Tengteng (author) / Ding, Jiarun (author) / Sun, Haoyu (author)


    Publication date :

    2022-11-19


    Size :

    896092 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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