Li, J, Gao, H, Wan, Y orcid.org/0000-0002-5797-0142 et al. (2 more authors) (2023) A Real-Time Planning and Control Framework for Robust and Dynamic Quadrupedal Locomotion. Journal of Bionic Engineering, 20. pp. 1449-1466. ISSN 1672-6529
Abstract
Legged locomotion poses significant challenges due to its nonlinear, underactuated and hybrid dynamic properties. These challenges are exacerbated by the high-speed motion and presence of aerial phases in dynamic legged locomotion, which highlights the requirement for online planning based on current states to cope with uncertainty and disturbances. This article proposes a real-time planning and control framework integrating motion planning and whole-body control. In the framework, the designed motion planner allows a wider body rotation range and fast reactive behaviors based on the 3-D single rigid body model. In addition, the combination of a Bézier curve based trajectory interpolator and a heuristic-based foothold planner helps generate continuous and smooth foot trajectories. The developed whole-body controller uses hierarchical quadratic optimization coupled with the full system dynamics, which ensures tasks are prioritized based on importance and joint commands are physically feasible. The performance of the framework is successfully validated in experiments with a torque-controlled quadrupedal robot for generating dynamic motions.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © The Author(s) 2023. This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/. |
Keywords: | Bionic robot, Legged locomotion, Motion planning, Whole-body control |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Funding Information: | Funder Grant number Innovate UK fka Technology Strategy Board (TSB) Not Known EPSRC (Engineering and Physical Sciences Research Council) EP/V026801/1 |
Depositing User: | Symplectic Publications |
Date Deposited: | 16 Jan 2023 07:44 |
Last Modified: | 18 Feb 2025 14:29 |
Status: | Published |
Publisher: | Springer |
Identification Number: | 10.1007/s42235-023-00347-9 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:195142 |