Design of HyQ – a hydraulically and electrically actuated quadruped robot

Semini, Claudio; Tsagarakis, Nikos G.; Guglielmino, Emanuele; Focchi, Michele; Cannella, Ferdinando; Caldwell, Darwin G.

doi:10.1177/0959651811402275

Cited by 498 publications

(344 citation statements)

References 34 publications

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“…One of the main reasons for this is that legged robots are better suited to walk over rough, irregular terrain compared to their wheeled counterparts [1]. Current examples of such legged robots used for research are for instance BigDog [2], Hyq [3] and StarlETH [4].…”

Section: Introductionmentioning

confidence: 99%

Comparing trotting and turning strategies on the quadrupedal oncilla robot

Degrave

Burm

Waegeman

et al. 2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Abstract-In this paper, we compare three different trotting techniques and five different turning strategies on a small, compliant, biologically inspired quadrupedal robot, the Oncilla. The locomotion techniques were optimized on the actual hardware using a treadmill setup, without relying on models. We found that using half ellipses as foot trajectories resulted in the fastest gaits, as well as the highest robustness against parameter changes. Furthermore, we analyzed the importance of using the scapulae for turning, from which we observed that although not necessary, they are needed for turning with a higher speed.

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Section: Introductionmentioning

confidence: 99%

Comparing trotting and turning strategies on the quadrupedal oncilla robot

Degrave

Burm

Waegeman

et al. 2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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“…Hence, Bézier coefficients of x(s), z(s), θ(s) are easily obtained by solving (18), (19), and (21). Following this procedure, the analytical formula for x, z, and θ from (16), (17), and (20) can be used to quickly query the state of the system at any time t ∈ [t 0 , t f ].…”

Section: B Solution To the Equations Of Motionmentioning

confidence: 99%

“…StarIETH [9] has displayed a wide array of gaits up to 0.7 m/s with the incorporation of series elastic actuation in its legs. The hydraulically actuated HyQ [21] has shown the capacity for high-power movements and is capable of terrain robust trot walking at 0.35 m/s [23]. The MIT Cheetah 1 [22] and Cheetah 2 [16] robots have shown the capabilities of electric DC motors to enable high-speed locomotion [12] up to 6 m/s.…”

Section: Introductionmentioning

confidence: 99%

Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds

Park¹,

Wensing²,

Kim³

2015

Robotics: Science and Systems XI

102

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Abstract-This paper presents a new framework for the generation of high-speed running jumps to clear terrain obstacles in quadrupedal robots. Our methods enable the quadruped to autonomously jump over obstacles up to 40 cm in height within a single control framework. Specifically, we propose new control system components, layered on top of a low-level running controller, which actively modify the approach and select stance force profiles as required to clear a sensed obstacle. The approach controller enables the quadruped to end in a preferable state relative to the obstacle just before the jump. This multi-step gait planning is formulated as a multiple-horizon model predictive control problem and solved at each step through quadratic programming. Ground reaction force profiles to execute the running jump are selected through constrained nonlinear optimization on a simplified model of the robot that possesses polynomial dynamics. Exploiting the simplified structure of these dynamics, the presented method greatly accelerates the computation of otherwise costly function and constraint evaluations that are required during optimization. With these considerations, the new algorithms allow for online planning that is critical for reliable response to unexpected situations. Experimental results, for a stand-alone quadruped with on-board power and computation, show the viability of this approach, and represent important steps towards broader dynamic maneuverability in experimental machines.

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“…• Clearpath Robotics' outdoor mobile robots: Grizzly, Husky, Jackal ("New Universal Robots Driver Makes Manipulation Research Easier," n.d.), and OTTO Motors' industrial indoor mobile robots: OTTO 1500, OTTO 100 • The "Twil" robot at Federal University of Rio Grande do Sul (Lages 2017) • The quadruped robots HyQ and HyQ2Max (Semini et al 2011, Semini et al (2017 at …”

Section: Robots Using Ros_controlmentioning

confidence: 99%

ros_control: A generic and simple control framework for ROS

Chitta¹,

Marder-Eppstein²,

Meeussen³

et al. 2017

JOSS

175

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SummaryIn recent years the Robot Operating System (Quigley et al. 2009) (ROS) has become the 'de facto' standard framework for robotics software development. The ros_control framework provides the capability to implement and manage robot controllers with a focus on both real-time performance and sharing of controllers in a robot-agnostic way. The primary motivation for a sepate robot-control framework is the lack of realtimesafe communication layer in ROS. Furthermore, the framework implements solutions for controller-lifecycle and hardware resource management as well as abstractions on hardware interfaces with minimal assumptions on hardware or operating system. The clear, modular design of ros_control makes it ideal for both research and industrial use and has indeed seen many such applications to date. The idea of ros_control originates from the pr2_controller_manager framework specific to the PR2 robot but ros_control is fully robot-agnostic. Controllers expose standard ROS interfaces for out-of-the box 3rd party solutions to robotics problems like manipulation path planning (MoveIt! (Chitta, Sucan, and Cousins 2012)) and autonomous navigation (the ROS navigation stack). Hence, a robot made up of a mobile base and an arm that support ros_control doesn't need any additional code to be written, only a few controller configuration files and it is ready to navigate autonomously and do path planning for the arm. ros_control also provides several libraries to support writing custom controllers.

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Design of HyQ – a hydraulically and electrically actuated quadruped robot

Cited by 498 publications

References 34 publications

Comparing trotting and turning strategies on the quadrupedal oncilla robot

Comparing trotting and turning strategies on the quadrupedal oncilla robot

Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds

ros_control: A generic and simple control framework for ROS

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