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

doi:10.1109/ICRA.2019.8793920

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

Informatics 23 - Chair of Sensor-based Robotic Systems and Intelligent Assistance Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	English
Title of host publication	2019 International Conference on Robotics and Automation, ICRA 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	9509-9515
Number of pages	7
ISBN (Electronic)	9781538660263
DOIs	https://doi.org/10.1109/ICRA.2019.8793920
State	Published - May 2019
Event	2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada Duration: 20 May 2019 → 24 May 2019

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2019 International Conference on Robotics and Automation, ICRA 2019
Country/Territory	Canada
City	Montreal
Period	20/05/19 → 24/05/19

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10.1109/ICRA.2019.8793920

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Lakatos, D., Federigi, Y., Gumpert, T., Henze, B., Hermann, M., Loeffl, F., Schmidt, F., Seidel, D., & Albu-Schaffer, A. (2019). A coordinate-based approach for static balancing and walking control of compliantly actuated legged robots. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 9509-9515). Article 8793920 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8793920

Lakatos, Dominic ; Federigi, Yuri ; Gumpert, Thomas et al. / A coordinate-based approach for static balancing and walking control of compliantly actuated legged robots. 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 9509-9515 (Proceedings - IEEE International Conference on Robotics and Automation).

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

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.",

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

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Lakatos, D, Federigi, Y, Gumpert, T, Henze, B, Hermann, M, Loeffl, F, Schmidt, F, Seidel, D & Albu-Schaffer, A 2019, A coordinate-based approach for static balancing and walking control of compliantly actuated legged robots. in 2019 International Conference on Robotics and Automation, ICRA 2019., 8793920, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 9509-9515, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 20/05/19. https://doi.org/10.1109/ICRA.2019.8793920

A coordinate-based approach for static balancing and walking control of compliantly actuated legged robots. / Lakatos, Dominic; Federigi, Yuri; Gumpert, Thomas et al.
2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 9509-9515 8793920 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - 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.

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Lakatos D, Federigi Y, Gumpert T, Henze B, Hermann M, Loeffl F et al. A coordinate-based approach for static balancing and walking control of compliantly actuated legged robots. In 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 9509-9515. 8793920. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2019.8793920

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

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