NDLI: High-slope terrain locomotion for torque-controlled quadruped robots

Content Provider	Springer Nature Link
Author	Focchi, Michele Prete, Andrea Havoutis, Ioannis Featherstone, Roy Caldwell, Darwin G. Semini, Claudio
Copyright Year	2016
Abstract	Research into legged robotics is primarily motivated by the prospects of building machines that are able to navigate in challenging and complex environments that are predominantly non-flat. In this context, control of contact forces is fundamental to ensure stable contacts and equilibrium of the robot. In this paper we propose a planning/control framework for quasi-static walking of quadrupedal robots, implemented for a demanding application in which regulation of ground reaction forces is crucial. Experimental results demonstrate that our 75-kg quadruped robot is able to walk inside two high-slope ( $$50^\circ $$ ) V-shaped walls; an achievement that to the authors’ best knowledge has never been presented before. The robot distributes its weight among the stance legs so as to optimize user-defined criteria. We compute joint torques that result in no foot slippage, fulfillment of the unilateral constraints of the contact forces and minimization of the actuators effort. The presented study is an experimental validation of the effectiveness and robustness of QP-based force distributions methods for quasi-static locomotion on challenging terrain.
Starting Page	259
Ending Page	272
Page Count	14
File Format	PDF
ISSN	09295593
Journal	Autonomous Robots
Volume Number	41
Issue Number	1
e-ISSN	15737527
Language	English
Publisher	Springer US
Publisher Date	2016-05-31
Publisher Place	New York
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Whole-body control Multi-contact inter-action Quadruped locomotion Ground Reaction Force optimization Force control Robotics and Automation Artificial Intelligence (incl. Robotics) Computer Imaging, Vision, Pattern Recognition and Graphics Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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