High-slope Terrain Locomotion for Torque-Controlled Quadruped Robots
Résumé
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 stability 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°) V-shaped walls; an achievement that to the
authors' best knowledge has never been presented before. Furthermore, the robot is
distributing 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. This paper
presents an experimental study that compares the proposed framework with different
state-of-the-art control strategies, demonstrating the effectiveness and robustness of
our approach.
Domaines
Robotique [cs.RO]
Origine : Fichiers produits par l'(les) auteur(s)