Name
Title | ||
|---|---|---|
Quadrupedal locomotion using trajectory optimization and hierarchical whole body control. |
Abstract | ||
|---|---|---|
Quadrupedal locomotion can be described as a constrained optimization problem that is very hard to solve due to the high dimensional, nonlinear and non-smooth system dynamics. In this paper, we propose a formulation that can be solved within few seconds using sequential quadratic programming. This method considers only a simplified model that just sufficiently represents the system dynamics. The output is a very coarse plan, which can be accurately and robustly followed on a real system using hierarchical whole-body control combined with inverted pendulum-based reactive stepping. Using the fully torque controllable quadrupedal robot ANYmal, we present successful experiments for walking, trotting, and gait transitions even under substantial external disturbances. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/icra.2017.7989557 | ICRA |
Field | DocType | Volume |
Inverted pendulum,Nonlinear system,Torque,Trajectory optimization,Control theory,Control engineering,System dynamics,Engineering,Sequential quadratic programming,Robot,Trajectory | Conference | 2017 |
Issue | Citations | PageRank |
1 | 0 | 0.34 |
References | Authors | |
12 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Christian Gehring | 1 | 180 | 13.79 |
| C. Dario Bellicoso | 2 | 27 | 3.65 |
| Peter Fankhauser | 3 | 171 | 14.88 |
| Stelian Coros | 4 | 862 | 56.47 |
| Marco Hutter | 5 | 460 | 58.00 |