A coordinate-based approach for static balancing and walking control of compliantly actuated legged robots

Dominic Lakatos, Yuri Federigi, Thomas Gumpert, Bernd Henze, Milan Hermann, Florian Loeffl, Florian Schmidt, Daniel Seidel, Alin Albu-Schaffer

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

The paper addresses the static balancing and walking of elastically actuated legged robots. The control is realized by commanding the motor positions only and exploiting the bijective relation between motor and link positions at equilibrium under static external forces. The approach is formulated in a quite general framework first. The main implementation contribution is the definition of a body coordinate system and of an appropriate set of constraints, which leads to a fully determined system of equations. In addition to the desired COM and the vertical foot positions, which are defined by the walking task and the terrain, the imposed constraints are related to distances between individual legs. The controller is experimentally validated on a compliantly actuated quadruped.

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages9509-9515
Number of pages7
ISBN (Electronic)9781538660263
DOIs
StatePublished - May 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: 20 May 201924 May 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
Country/TerritoryCanada
CityMontreal
Period20/05/1924/05/19

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