Bound Gait Reference Generation of a Quadruped Robot via Contact Force Planning

Adak, Ömer Kemal; Erbatur, Kemalettin

doi:10.18178/ijmerr.11.3.129-137

Cited by 14 publications

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“…The discretization is applied to quantities such as time for the optimization process. Further explanation can be found in [15]. High impact forces might cause issues in transition between phases in a hybrid motion.…”

Section: B Reference Generationmentioning

confidence: 99%

Hybrid Force-Motion Control for One-Legged Robot in Operational Space

Adak

Bahçeci

Erbatur

2021

2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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This paper presents a dynamic locomotion generation for a one-legged floating-base robot. Reference synthesis is performed by planning both swing motion of the foot and contact forces acting from the ground. A fifth-order polynomial is employed as the position reference to reduce the impact forces and ensure a steady transition between the swing and stance phases. Contact force references are designed utilizing the laws of linear and angular momentum conservation. A hybrid forcemotion control framework is created in operational space for tracking generated references. Gait phase transition is proposed to assist the transition between the force and motion controller. A full-dynamics simulation environment is utilized to test the proposed control framework. Results supported the competence of the proposed control framework for the floating-base onelegged robot.

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Section: B Reference Generationmentioning

confidence: 99%

Hybrid Force-Motion Control for One-Legged Robot in Operational Space

Adak

Bahçeci

Erbatur

2021

2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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“…The final constraint is set to eliminate the possibility of friction. Additional information related to contact force planning is provided in [24]. In a hybrid motion, high impact forces between phase transitions can be problematic.…”

Section: Reference Generationmentioning

confidence: 99%

Whole-Body Pace Gait Control Based on Centroidal Dynamics of a Quadruped Robot

Adak

Bahçeci

Erbatur

2022

2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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This paper studies the full-body motion generation of a quadruped robot for pace gait. A motion planning algorithm is designed based on the centroidal dynamics of the robot. The motion planning algorithm generates both position and force reference trajectories. These reference trajectories serve as a guide for the swing motion of feet during the swing phase, while they also serve as a guide for the ground contact forces during the stance phase. A hybrid force-motion control framework is constructed using the operational space formulation (OSF) in order to track generated reference trajectories. We contribute further to the OSF of floating-base robots by decoupling the dynamics of the right and left leg pairs to facilitate pace gait. The proposed motion generation method for pace gait is validated using a full-dynamics simulation environment. The results reveal the competence of the proposed whole-body pace gait control for a quadruped robot.

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Movement Along the Trajectory of a Home Quadruped Robot

Dobrynin

2023

Lecture Notes in Computer Science

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Bound Gait Reference Generation of a Quadruped Robot via Contact Force Planning

Cited by 14 publications

References 0 publications

Hybrid Force-Motion Control for One-Legged Robot in Operational Space

Hybrid Force-Motion Control for One-Legged Robot in Operational Space

Whole-Body Pace Gait Control Based on Centroidal Dynamics of a Quadruped Robot

Movement Along the Trajectory of a Home Quadruped Robot

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