Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Using Linearized ZMP Constraints

We present a trajectory optimizer for quadrupedal robots with actuated wheels. By solving for angular, vertical, and planar components of the base and feet trajectories in a cascaded fashion and by introducing a novel linear formulation of the zero-moment point balance criterion, we rely on quadrati...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2019-04, Vol.4 (2), p.1633-1640
Main Authors: de Viragh, Yvain, Bjelonic, Marko, Bellicoso, C. Dario, Jenelten, Fabian, Hutter, Marco
Format: Article
Language:English
Subjects:
Balance criterion
Foot
Legged locomotion
Legged robots
Mathematical model
motion and path planning
optimization and optimal control
Quadratic programming
Robot dynamics
Robots
Trajectory
Trajectory optimization
Walking
wheeled robots
Wheels
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Summary:We present a trajectory optimizer for quadrupedal robots with actuated wheels. By solving for angular, vertical, and planar components of the base and feet trajectories in a cascaded fashion and by introducing a novel linear formulation of the zero-moment point balance criterion, we rely on quadratic programming only, thereby eliminating the need for nonlinear optimization routines. Yet, even for gaits containing full flight phases, we are able to generate trajectories for executing complex motions that involve simultaneous driving, walking, and turning. We verified our approach in simulations of the quadrupedal robot ANYmal equipped with wheels, where we are able to run the proposed trajectory optimizer at 50 Hz. To the best of our knowledge, this is the first time that such dynamic motions are demonstrated for wheeled-legged quadrupedal robots using an online motion planner.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2019.2896721