Paper Info
Title
Online 3D CoM Trajectory Generation for Multi-Contact Locomotion Synchronizing Contact
Abstract
This paper proposes a fast computation method for 3D multi-contact locomotion. The contributions of this paper are (a) the derivation of the prospect centroidal dynamics by introducing a force distribution ratio, where the centroidal dynamics in multi-contact can be represented with a formulation similar to the inverted pendulum's one, and (b) the development of a fast computation method for generating a 3D center of mass (CoM) trajectory. The proposed method allows to generate a trajectory sequentially and to change the locomotion parameters at any time even under variable CoM height. Then, the contact timing of each end-effector can be adjusted to synchronize with the actual contact with the environment by shortening or extending the desired duration of the support phase. This can be used to improve the robustness of the locomotion. In this paper, we deal with a multi-contact locomotion which can be fully received a vertical reaction force from the environment and the validity of the proposed method is confirmed by several numerical results: the CoM motion while changing the contact timing and a multi-contact locomotion considering a transition between biped and quadruped walking in a dynamics simulator.
Year
DOI
Venue
2018
10.1109/HUMANOIDS.2018.8625014
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)
Keywords
Field
DocType
fast computation method,online 3D CoM trajectory generation,3D multicontact locomotion,online 3D center of mass trajectory generation,end-effector,dynamics simulator,quadruped walking,biped walking,multicontact locomotion synchronization contact
Inverted pendulum,Synchronization,Computer science,Control theory,Simulation,Synchronizing,Reaction,Robustness (computer science),Center of mass,Trajectory,Computation
Conference
ISSN
ISBN
Citations 
2164-0572
978-1-5386-7284-6
0
PageRank 
References 
Authors
0.34
0
6
Name
Order
Citations
PageRank
Mitsuharu Morisawa164749.09
Rafael Cisneros264.59
Mehdi Benallegue33010.89
Kumagai, I.475.29
Adrien Escande527322.91
Fumio KANEHIRO62304204.18