Online Dynamic Motion Planning and Control for Wheeled Biped Robots

Songyan Xin; Sethu Vijayakumar

doi:10.1109/IROS45743.2020.9340967

Online Dynamic Motion Planning and Control for Wheeled Biped Robots

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control frame-work to realise dynamic locomotion for wheeled biped robots. We propose the Cart-Linear Inverted Pendulum Model (Cart-LIPM) as a template model for the rolling motion and the under-actuated LIPM for contact changes while walking. The generated motion is then tracked by an inverse dynamic whole-body controller which coordinates all joints, including the wheels. The framework has a hierarchical structure and is implemented in a model predictive control (MPC) fashion. To validate the proposed approach for hybrid motion generation, two scenarios involving different types of obstacles are designed in simulation. To the best of our knowledge, this is the first time that such online dynamic hybrid locomotion has been demonstrated on wheeled biped robots.

Original language	English
Title of host publication	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher	Institute of Electrical and Electronics Engineers
Pages	3892 - 3899
Number of pages	8
ISBN (Electronic)	978-1-7281-6212-6
ISBN (Print)	978-1-7281-6213-3
DOIs	https://doi.org/10.1109/IROS45743.2020.9340967
Publication status	Published - 10 Feb 2021
Event	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, United States Duration: 25 Oct 2020 → 29 Oct 2020 https://www.iros2020.org/index.html

Publication series

Name
Publisher	IEEE
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated title	IROS 2020
Country/Territory	United States
City	Las Vegas
Period	25/10/20 → 29/10/20
Internet address	https://www.iros2020.org/index.html

Access to Document

10.1109/IROS45743.2020.9340967Licence: All Rights Reserved

Online Dynamic Motion_XIN_DOA01072020_AFVAccepted author manuscript, 19.2 MBLicence: All Rights Reserved

https://ieeexplore.ieee.org/document/9340967Licence: All Rights Reserved

MEMMO - Memory of Motion
Vijayakumar, S.
EU government bodies
1/01/18 → 30/06/22
Project: Research
Future AI and Robotics for Space (FAIR-SPACE)
Vijayakumar, S. & Li, Z.
EPSRC
1/10/17 → 31/03/22
Project: Research

Cite this

@inproceedings{58b45c37ae63448eb72c2fc9614899fd,

title = "Online Dynamic Motion Planning and Control for Wheeled Biped Robots",

abstract = "Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control frame-work to realise dynamic locomotion for wheeled biped robots. We propose the Cart-Linear Inverted Pendulum Model (Cart-LIPM) as a template model for the rolling motion and the under-actuated LIPM for contact changes while walking. The generated motion is then tracked by an inverse dynamic whole-body controller which coordinates all joints, including the wheels. The framework has a hierarchical structure and is implemented in a model predictive control (MPC) fashion. To validate the proposed approach for hybrid motion generation, two scenarios involving different types of obstacles are designed in simulation. To the best of our knowledge, this is the first time that such online dynamic hybrid locomotion has been demonstrated on wheeled biped robots.",

author = "Songyan Xin and Sethu Vijayakumar",

year = "2021",

month = feb,

day = "10",

doi = "10.1109/IROS45743.2020.9340967",

language = "English",

isbn = "978-1-7281-6213-3",

publisher = "Institute of Electrical and Electronics Engineers",

pages = "3892 -- 3899",

booktitle = "2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

address = "United States",

note = "2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 ; Conference date: 25-10-2020 Through 29-10-2020",

url = "https://www.iros2020.org/index.html",

}

Xin, S & Vijayakumar, S 2021, Online Dynamic Motion Planning and Control for Wheeled Biped Robots. in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, pp. 3892 - 3899, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, United States, 25/10/20. https://doi.org/10.1109/IROS45743.2020.9340967

TY - GEN

T1 - Online Dynamic Motion Planning and Control for Wheeled Biped Robots

AU - Xin, Songyan

AU - Vijayakumar, Sethu

PY - 2021/2/10

Y1 - 2021/2/10

N2 - Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control frame-work to realise dynamic locomotion for wheeled biped robots. We propose the Cart-Linear Inverted Pendulum Model (Cart-LIPM) as a template model for the rolling motion and the under-actuated LIPM for contact changes while walking. The generated motion is then tracked by an inverse dynamic whole-body controller which coordinates all joints, including the wheels. The framework has a hierarchical structure and is implemented in a model predictive control (MPC) fashion. To validate the proposed approach for hybrid motion generation, two scenarios involving different types of obstacles are designed in simulation. To the best of our knowledge, this is the first time that such online dynamic hybrid locomotion has been demonstrated on wheeled biped robots.

AB - Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control frame-work to realise dynamic locomotion for wheeled biped robots. We propose the Cart-Linear Inverted Pendulum Model (Cart-LIPM) as a template model for the rolling motion and the under-actuated LIPM for contact changes while walking. The generated motion is then tracked by an inverse dynamic whole-body controller which coordinates all joints, including the wheels. The framework has a hierarchical structure and is implemented in a model predictive control (MPC) fashion. To validate the proposed approach for hybrid motion generation, two scenarios involving different types of obstacles are designed in simulation. To the best of our knowledge, this is the first time that such online dynamic hybrid locomotion has been demonstrated on wheeled biped robots.

U2 - 10.1109/IROS45743.2020.9340967

DO - 10.1109/IROS45743.2020.9340967

M3 - Conference contribution

SN - 978-1-7281-6213-3

SP - 3892

EP - 3899

BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PB - Institute of Electrical and Electronics Engineers

T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 25 October 2020 through 29 October 2020

ER -

Online Dynamic Motion Planning and Control for Wheeled Biped Robots

Abstract

Publication series

Conference

Access to Document

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Projects

MEMMO - Memory of Motion

Future AI and Robotics for Space (FAIR-SPACE)

Cite this