Whole-body pace gait control based on centroidal dynamics of a quadruped robot

Adak, Ömer Kemal and Bahçeci, Beste and Erbatur, Kemalettin (2022) Whole-body pace gait control based on centroidal dynamics of a quadruped robot. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Sapporo, Japan

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Abstract

This paper studies the full-body motion generation of a quadruped robot for pace gait. A motion planning algorithm is designed based on the centroidal dynamics of the robot. The motion planning algorithm generates both position and force reference trajectories. These reference trajectories serve as a guide for the swing motion of feet during the swing phase, while they also serve as a guide for the ground contact forces during the stance phase. A hybrid force-motion control framework is constructed using the operational space formulation (OSF) in order to track generated reference trajectories. We contribute further to the OSF of floating-base robots by decoupling the dynamics of the right and left leg pairs to facilitate pace gait. The proposed motion generation method for pace gait is validated using a full-dynamics simulation environment. The results reveal the competence of the proposed whole-body pace gait control for a quadruped robot.
Item Type: Papers in Conference Proceedings
Subjects: T Technology > T Technology (General)
T Technology > TA Engineering (General). Civil engineering (General) > TA168 Systems engineering
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Kemalettin Erbatur
Date Deposited: 28 Sep 2022 14:18
Last Modified: 28 Sep 2022 14:18
URI: https://research.sabanciuniv.edu/id/eprint/44930

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