Paper Info
Title
Terrain-Perception-Free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation
Abstract
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along the sagittal direction, such as slopes and stairs. To accomplish autonomous locomotion navigation in complex environments, spinning is a fundamental yet indispensable functionality for legged robots. However, spinning behaviors of quadruped robots on uneven terrain often exhibit position drifts. Motivated by this problem, this study presents an algorithmic method to enable accurate spinning motions over uneven terrain and constrain the spinning radius of the center of mass (CoM) to be bounded within a small range to minimize the drift risks. A modified spherical foot kinematics representation is proposed to improve the foot kinematic model and rolling dynamics of the quadruped during locomotion. A CoM planner is proposed to generate a stable spinning motion based on projected stability margins. Accurate motion tracking is accomplished with linear quadratic regulator (LQR) to bind the position drift during the spinning movement. Experiments are conducted on a small-scale quadruped robot and the effectiveness of the proposed method is verified on versatile terrains including flat ground, stairs, and slopes.
Year
DOI
Venue
2021
10.3389/frobt.2021.724138
FRONTIERS IN ROBOTICS AND AI
Keywords
DocType
Volume
quadruped robot, turning gait, spinning locomotion, trajectory tracking control, versatile terrains
Journal
8
ISSN
Citations 
PageRank 
2296-9144
0
0.34
References 
Authors
0
11
Name
Order
Citations
PageRank
Hongwu Zhu100.34
Dong Wang21351186.07
Ganyu Deng302.03
Nathan Boyd470.85
Ziyi Zhou523.74
Lecheng Ruan600.34
Caiming Sun704.06
Aidong Zhang82970405.63
Ning Ding9257.17
Ye Zhao105411.72
Jianwen Luo1101.01