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Unified Motion Planner for Walking, Running, and Jumping Using the Three-Dimensional Divergent Component of Motion

Mesesan, George-Adrian and Schuller, Robert and Englsberger, Johannes and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2023) Unified Motion Planner for Walking, Running, and Jumping Using the Three-Dimensional Divergent Component of Motion. IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2023.3321396. ISSN 1552-3098.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/10288271


Running and jumping are locomotion modes that allow legged robots to rapidly traverse great distances and overcome difficult terrain. In this article, we show that the 3-D divergent component of motion (3D-DCM) framework, which was successfully used for generating walking trajectories in previous works, retains its validity and coherence during flight phases, and, therefore, can be used for planning running and jumping motions. We propose a highly efficient motion planner that generates stable center-of-mass (CoM) trajectories for running and jumping with arbitrary contact sequences and time parametrizations. The proposed planner constructs the complete motion plan as a sequence of motion phases that can be of different types: stance, flight, transition phases, etc. We introduce a unified formulation of the CoM and DCM waypoints at the start and end of each motion phase, which makes the framework extensible and enables the efficient waypoint computation in matrix and algorithmic form. The feasibility of the generated reference trajectories is demonstrated by extensive whole-body simulations with the humanoid robot TORO.

Item URL in elib:https://elib.dlr.de/198428/
Document Type:Article
Title:Unified Motion Planner for Walking, Running, and Jumping Using the Three-Dimensional Divergent Component of Motion
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Mesesan, George-AdrianUNSPECIFIEDhttps://orcid.org/0000-0001-5110-2988UNSPECIFIED
Schuller, RobertUNSPECIFIEDhttps://orcid.org/0000-0001-6034-5586UNSPECIFIED
Englsberger, JohannesUNSPECIFIEDhttps://orcid.org/0000-0002-8117-2650UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074145187482
Date:21 October 2023
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Bipedal locomotion, divergent component of motion (DCM), gait generation, gait transitions, jumping, running
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) > Autonomy and Teleoperation
Deposited By: Mesesan, George-Adrian
Deposited On:24 Oct 2023 16:16
Last Modified:24 Oct 2023 16:16

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