Energy-Efficient Dynamic Motion Planning of Quadruped Robots via Whole-body Nonlinear Trajectory Optimization

Li, Qi; Qian, Letian; Sun, Peng; Luo, Xin

doi:10.1109/icma54519.2022.9855898

Cited by 3 publications

(1 citation statement)

References 8 publications

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“…Whole-body control (WBC) is a hierarchical control approach for the redundant control problem of mobile-based robotic systems [ 24 ]. The basic idea is to decompose the motion of the robot system into task dynamic behavior and posture behavior according to the task orientation, i.e., to solve the redundant control problem of the mobile-based robot by decomposing the task and to design the joint control of interrelated and influential multi-level controllers to realize the task [ 25 ].…”

Section: Planning and Control Methodsmentioning

confidence: 99%

Autonomous Planning of Discontinuous Terrain-Dependent Crawling for Space Dobby Robots

Jiang

Wei

Yu³

et al. 2023

Sensors

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Complex space missions require more space robotic extravehicular operations required to crawl on spacecraft surfaces with discontinuous features at the graspable point, greatly increasing the difficulty of space robot motion manipulation. Therefore, this paper proposes an autonomous planning method for space dobby robots based on dynamic potential fields. This method can realize the autonomous crawling of space dobby robots in discontinuous environments while considering the task objectives and the self-collision problem of robotic arms when crawling. In this method, a hybrid event–time trigger with event triggering as the main trigger is proposed by combining the working characteristics of space dobby robots and improving the gait timing trigger; the dynamic potential field function is designed to adjust the space robot robotic arm grasping point adaptively according to the space robot state. Simulation results verify the effectiveness of the proposed autonomous planning method.

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Section: Planning and Control Methodsmentioning

confidence: 99%

Autonomous Planning of Discontinuous Terrain-Dependent Crawling for Space Dobby Robots

Jiang

Wei

Yu³

et al. 2023

Sensors

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Safe motion planning and formation control of quadruped robots

Ji,

Dong

2024

Auton. Intell. Syst.

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This paper introduces a motion planning and cooperative formation control approach for quadruped robots and multi-agent systems. First, in order to improve the efficiency and safety of quadruped robots navigating in complex environments, this paper proposes a new planning method that combines the dynamic model of quadruped robots and a gradient-optimized obstacle avoidance strategy without Euclidean Signed Distance Field. The framework is suitable for both static and slow dynamic obstacle environments, aiming to achieve multiple goals of obstacle avoidance, minimizing energy consumption, reducing impact, satisfying dynamic constraints, and ensuring trajectory smoothness. This approach differs in that it reduces energy consumption throughout the movement from a new perspective. Meanwhile, this method effectively reduces the impact of the ground on the robot, thus mitigating the damage to its structure. Second, we combine the dynamic control barrier function and the virtual leader-follower model to achieve efficient and safe formation control through model predictive control. Finally, the proposed algorithm is validated through both simulations and real-world scenarios testing.

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