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Planning Natural Locomotion for Articulated Soft Quadrupeds

Pollayil, Mathew Jose and Della Santina, Cosimo and Mesesan, George-Adrian and Englsberger, Johannes and Seidel, Daniel and Garabini, Manolo and Ott, Christian and Bicchi, Antonio and Albu-Schäffer, Alin Olimpiu (2022) Planning Natural Locomotion for Articulated Soft Quadrupeds. In: 39th IEEE International Conference on Robotics and Automation, ICRA 2022. IEEE. 2022 International Conference on Robotics and Automation (ICRA), 2022-05-23 - 2022-05-27, Philadelphia, PA, USA. doi: 10.1109/ICRA46639.2022.9812416. ISBN 978-172819681-7. ISSN 1050-4729.

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Official URL: https://ieeexplore.ieee.org/document/9812416


Embedding elastic elements into legged robots through mechanical design enables highly efficient oscillating patterns that resemble natural gaits. However, current trajectory planning techniques miss the opportunity of taking advantage of these natural motions. This work proposes a locomotion planning method that aims to unify traditional trajectory generation with modal oscillations. Our method utilizes task-space linearized modes for generating center of mass trajectories on the sagittal plane. We then use nonlinear optimization to find the gait timings that match these trajectories within the Divergent Component of Motion planning framework. This way, we can robustly translate the modes-aware centroidal motions into joint coordinates. We validate our approach with promising results and insights through experiments on a compliant quadrupedal robot.

Item URL in elib:https://elib.dlr.de/191916/
Document Type:Conference or Workshop Item (Speech)
Title:Planning Natural Locomotion for Articulated Soft Quadrupeds
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Pollayil, Mathew JoseUniversita di PisaUNSPECIFIEDUNSPECIFIED
Della Santina, CosimoUNSPECIFIEDhttps://orcid.org/0000-0003-1067-1134UNSPECIFIED
Mesesan, George-AdrianUNSPECIFIEDhttps://orcid.org/0000-0001-5110-2988UNSPECIFIED
Englsberger, JohannesUNSPECIFIEDhttps://orcid.org/0000-0002-8117-2650UNSPECIFIED
Garabini, ManoloCentro di Ricerca “Enrico Piaggio”, University of Pisa, Pisa, ItalyUNSPECIFIEDUNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Bicchi, AntonioUNSPECIFIEDhttps://orcid.org/0000-0001-8635-5571UNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115902
Date:July 2022
Journal or Publication Title:39th IEEE International Conference on Robotics and Automation, ICRA 2022
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:Legged locomotion, Trajectory planning, Robot kinematics, Trajectory, Planning, Timing, Quadrupedal robots
Event Title:2022 International Conference on Robotics and Automation (ICRA)
Event Location:Philadelphia, PA, USA
Event Type:international Conference
Event Start Date:23 May 2022
Event End Date:27 May 2022
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Strobl, Dr. Klaus H.
Deposited On:08 Dec 2022 10:02
Last Modified:24 Apr 2024 20:53

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