A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots.

ABSTRACT: In the context of legged robotics, many criteria based on the control of the Center of Mass (CoM) have been developed to ensure a stable and safe robot locomotion. Defining a whole-body framework with the control of the CoM requires a planning strategy, often based on a specific type of gait and a reliable state-estimation. In a whole-body control approach, if the CoM task is not specified, the consequent redundancy can still be resolved by specifying a postural task that set references for all the joints. Therefore, the postural task can be exploited to keep a well-behaved, stable kinematic configuration. In this work, we propose a generic locomotion framework which is able to generate different kind of gaits, ranging from very dynamic gaits, such as the trot, to more static gaits like th

SUBMITTER: Raiola G 

PROVIDER: S-EPMC7805836 | biostudies-literature | 2020

REPOSITORIES: biostudies-literature