Planning Natural Locomotion for Articulated Soft Quadrupeds

Planning Natural Locomotion for Articulated Soft Quadrupeds

Pollayil, Mathew Jose (University of Pisa)
Della Santina, C. (TU Delft Learning & Autonomous Control; Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR))
Mesesan, George (Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR))
Englsberger, Johannes (Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR))
Seidel, Daniel (Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR))
Garabini, Manolo (University of Pisa)
Ott, Christian (Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR))
Bicchi, Antonio (University of Pisa)
Albu-Schaffer, Alin (Technische Universität München; Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR))

Pappas, George J. (editor)
Kumar, Vijay (editor)

2022

Embedding elastic elements into legged robots through mechanical design enables highly efficient oscillating patterns that resemble natural gaits. However, current trajectory planning techniques miss the opportunity of taking advantage of these natural motions. This work proposes a locomotion planning method that aims to unify traditional trajectory generation with modal oscillations. Our method utilizes task-space linearized modes for generating center of mass trajectories on the sagittal plane. We then use nonlinear optimization to find the gait timings that match these trajectories within the Divergent Component of Motion planning framework. This way, we can robustly translate the modes-aware centroidal motions into joint coordinates. We validate our approach with promising results and insights through experiments on a compliant quadrupedal robot.

Legged locomotion
Trajectory planning
Robot kinematics
Trajectory
Planning
Timing
Quadrupedal robots

http://resolver.tudelft.nl/uuid:e55e2071-442d-4145-8174-66bd5adbb594

https://doi.org/10.1109/ICRA46639.2022.9812416

IEEE

2023-01-12

978-1-7281-9680-0

Proceedings of the International Conference on Robotics and Automation (ICRA 2022)

2022 International Conference on Robotics and Automation (ICRA), 2022-05-23 → 2022-05-27, Philadelphia, United States

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

conference paper

© 2022 Mathew Jose Pollayil, C. Della Santina, George Mesesan, Johannes Englsberger, Daniel Seidel, Manolo Garabini, Christian Ott, Antonio Bicchi, Alin Albu-Schaffer