Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs

Ames, Aaron D.

doi:10.1109/icra48891.2023.10160672

Cited by 10 publications

(1 citation statement)

References 21 publications

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“…The success and the efficiency of the classical approach lie in the capabilities of the motion planner to generate a desired trajectory that is compatible with the whole body instantaneous controller. It can be done for instance by using a hybrid control approach and planning over a graph of motion primitives for quadrupeds [11]. It can also be done using A* through a discrete set of actions predefined according to the targeted tasks, see [12] for a locomotion example.…”

Section: A Context Presentationmentioning

confidence: 99%

Step Toward Deploying the Torque-Controlled Robot TALOS on Industrial Operations

Perrot,

Stasse

2023

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper tackles the use of torque controlled humanoid robot TALOS in the context of industrial manufacturing. It demonstrates that it is possible to use Whole Body Model Predictive Control (WBMPC) to reliably insert a tool in the holes of an aircraft structure with an accuracy of few millimeters. This result is based on the use of Crocoddyl, an optimal control library that exploits differential dynamic programming (DDP) to achieve high numerical efficiency. The focus of this article is put on the procedure that was undertaken to shape the cost function of the optimal controller. Our approach has first been validate in a low performance setting on the humanoid robot TALOS. Then, a strategy to improve the performances by reinjecting information about the posture of the robot from previous experiments is showed in simulation.

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Section: A Context Presentationmentioning

confidence: 99%