Quadrupedal Robots Whole-Body Motion Control Based on Centroidal Momentum Dynamics
Source abstract
Abstract
In this paper, we demonstrate a method for quadruped dynamic locomotion based on centroidal momentum control. Our method relies on a quadratic program that solves an optimal control problem to track the reference rate of change of centroidal momentum as closely as possible while satisfying the dynamic, input, and contact constraints of the full quadruped robot dynamics. Given the desired footstep positions, the according reference rate of change of the centroidal momentum is formulated as a feedback control task derived from the CoM motions of a simplified model (linear inverted pendulum) based on Capture Point dynamics. The joint accelerations and the Ground Reaction Forces(GRFs) outputted from the quadratic program solver are used to calculate the desired joint torques using an inverse dynamics algorithm. The performance of the proposed method is tested in simulation and on real hardware.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotic Locomotion and Control · Prosthetics and Rehabilitation Robotics · Robot Manipulation and Learning
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, No. 114 Nanta Street, Shenhe District, Shenyang 110016, China
Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing 100049, China
SIASUN Robot & Automation Co., Ltd., No. 33 Quan Yun Road, Hunnan New District, Shenyang 110168, China
Funding
National Key Research and Development Program of China
References (37)
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