Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain

Alexander W. Winkler; Carlos Mastalli; Ioannis Havoutis; Michele Focchi; Darwin G. Caldwell; Claudio Semini

doi:10.1109/ICRA.2015.7139916

Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain

Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini

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

Abstract / Description of output

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.

Original language	English
Title of host publication	2015 IEEE International Conference on Robotics and Automation (ICRA)
Publisher	Institute of Electrical and Electronics Engineers
Pages	5148-5154
Number of pages	7
ISBN (Electronic)	978-1-4799-6923-4
DOIs	https://doi.org/10.1109/ICRA.2015.7139916
Publication status	Published - 2 Jul 2015
Event	2015 IEEE International Conference on Robotics and Automation - Seattle, United States Duration: 26 May 2015 → 30 May 2015 http://icra2015.org/

Publication series

Name
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
ISSN (Print)	1050-4729

Conference

Conference	2015 IEEE International Conference on Robotics and Automation
Abbreviated title	ICRA 2015
Country/Territory	United States
City	Seattle
Period	26/05/15 → 30/05/15
Internet address	http://icra2015.org/

Keywords / Materials (for Non-textual outputs)

legged locomotion
robot dynamics
dynamic whole-body locomotion
hydraulic quadruped
any-time-repairing
ARA
rough body path
n-step lookahead optimization
dynamic stability metric
zero moment point
ZMP
natural dynamic whole-body motions
virtual model control
floating-base inverse dynamics
Dynamics
Trajectory
Acceleration
Planning
Vehicle dynamics
Legged locomotion

Access to Document

10.1109/ICRA.2015.7139916Licence: All Rights Reserved

https://ieeexplore.ieee.org/document/7139916Licence: All Rights Reserved

Cite this

Winkler, A. W., Mastalli, C., Havoutis, I., Focchi, M., Caldwell, D. G., & Semini, C. (2015). Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain. In 2015 IEEE International Conference on Robotics and Automation (ICRA) (pp. 5148-5154). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICRA.2015.7139916

@inproceedings{825a34d83e0f446dac9fd918290e0f4c,

title = "Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain",

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.",

keywords = "legged locomotion, robot dynamics, dynamic whole-body locomotion, hydraulic quadruped, any-time-repairing, ARA, rough body path, n-step lookahead optimization, dynamic stability metric, zero moment point, ZMP, natural dynamic whole-body motions, virtual model control, floating-base inverse dynamics, Dynamics, Trajectory, Acceleration, Planning, Vehicle dynamics, Legged locomotion",

author = "Winkler, {Alexander W.} and Carlos Mastalli and Ioannis Havoutis and Michele Focchi and Caldwell, {Darwin G.} and Claudio Semini",

year = "2015",

month = jul,

day = "2",

doi = "10.1109/ICRA.2015.7139916",

language = "English",

publisher = "Institute of Electrical and Electronics Engineers",

pages = "5148--5154",

booktitle = "2015 IEEE International Conference on Robotics and Automation (ICRA)",

address = "United States",

note = "2015 IEEE International Conference on Robotics and Automation, ICRA 2015 ; Conference date: 26-05-2015 Through 30-05-2015",

url = "http://icra2015.org/",

}

Winkler, AW, Mastalli, C, Havoutis, I, Focchi, M, Caldwell, DG & Semini, C 2015, Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain. in 2015 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers, pp. 5148-5154, 2015 IEEE International Conference on Robotics and Automation, Seattle, Washington, United States, 26/05/15. https://doi.org/10.1109/ICRA.2015.7139916

Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain. / Winkler, Alexander W.; Mastalli, Carlos; Havoutis, Ioannis et al.
2015 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers, 2015. p. 5148-5154.

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

TY - GEN

T1 - Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain

AU - Winkler, Alexander W.

AU - Mastalli, Carlos

AU - Havoutis, Ioannis

AU - Focchi, Michele

AU - Caldwell, Darwin G.

AU - Semini, Claudio

PY - 2015/7/2

Y1 - 2015/7/2

N2 - 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.

AB - 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.

KW - legged locomotion

KW - robot dynamics

KW - dynamic whole-body locomotion

KW - hydraulic quadruped

KW - any-time-repairing

KW - ARA

KW - rough body path

KW - n-step lookahead optimization

KW - dynamic stability metric

KW - zero moment point

KW - ZMP

KW - natural dynamic whole-body motions

KW - virtual model control

KW - floating-base inverse dynamics

KW - Dynamics

KW - Trajectory

KW - Acceleration

KW - Planning

KW - Vehicle dynamics

KW - Legged locomotion

U2 - 10.1109/ICRA.2015.7139916

DO - 10.1109/ICRA.2015.7139916

M3 - Conference contribution

SP - 5148

EP - 5154

BT - 2015 IEEE International Conference on Robotics and Automation (ICRA)

PB - Institute of Electrical and Electronics Engineers

T2 - 2015 IEEE International Conference on Robotics and Automation

Y2 - 26 May 2015 through 30 May 2015

ER -

Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain

Abstract / Description of output

Publication series

Conference

Keywords / Materials (for Non-textual outputs)

Access to Document

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Cite this