SIA OpenIR  > 其他
Quadrupedal Robots Whole-Body Motion Control Based on Centroidal Momentum Dynamics
Liu MM(刘明敏)1,2,3; Qu DK(曲道奎)1,2,4; Xu F(徐方)1,2,4; Zou FS(邹风山)4; Di, Pei4; Tang, Chong4
Department其他
Source PublicationAPPLIED SCIENCES-BASEL
ISSN2076-3417
2019
Volume9Issue:7Pages:1-13
Indexed BySCI
WOS IDWOS:000466547500070
Contribution Rank1
Funding OrganizationNational Key Research and Development Program of China
Keywordcentroidal momentum quadruped robot quadratic program motion control dynamics
AbstractIn this paper, we demonstrate a method for quadruped dynamic locomotion based on centroidal momentum control. Our method relies on a quadratic program that solves an optimal control problem to track the reference rate of change of centroidal momentum as closely as possible while satisfying the dynamic, input, and contact constraints of the full quadruped robot dynamics. Given the desired footstep positions, the according reference rate of change of the centroidal momentum is formulated as a feedback control task derived from the CoM motions of a simplified model (linear inverted pendulum) based on Capture Point dynamics. The joint accelerations and the Ground Reaction Forces(GRFs) outputted from the quadratic program solver are used to calculate the desired joint torques using an inverse dynamics algorithm. The performance of the proposed method is tested in simulation and on real hardware.
Language英语
WOS SubjectChemistry, Multidisciplinary ; Materials Science, Multidisciplinary ; Physics, Applied
WOS KeywordCONTROL DESIGN ; LOCOMOTION
WOS Research AreaChemistry ; Materials Science ; Physics
Funding ProjectNational Key Research and Development Program of China[2017YFC0806700] ; National Key Research and Development Program of China[2017YFC0806700]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24945
Collection其他
Corresponding AuthorLiu MM(刘明敏); Di, Pei
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing 100049, China
4.SIASUN Robot & Automation Co., Ltd., No. 33 Quan Yun Road, Hunnan New District, Shenyang 110168, China
Recommended Citation
GB/T 7714
Liu MM,Qu DK,Xu F,et al. Quadrupedal Robots Whole-Body Motion Control Based on Centroidal Momentum Dynamics[J]. APPLIED SCIENCES-BASEL,2019,9(7):1-13.
APA Liu MM,Qu DK,Xu F,Zou FS,Di, Pei,&Tang, Chong.(2019).Quadrupedal Robots Whole-Body Motion Control Based on Centroidal Momentum Dynamics.APPLIED SCIENCES-BASEL,9(7),1-13.
MLA Liu MM,et al."Quadrupedal Robots Whole-Body Motion Control Based on Centroidal Momentum Dynamics".APPLIED SCIENCES-BASEL 9.7(2019):1-13.
Files in This Item: Download All
File Name/Size DocType Version Access License
Quadrupedal Robots W(33288KB)期刊论文出版稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Liu MM(刘明敏)]'s Articles
[Qu DK(曲道奎)]'s Articles
[Xu F(徐方)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Liu MM(刘明敏)]'s Articles
[Qu DK(曲道奎)]'s Articles
[Xu F(徐方)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Liu MM(刘明敏)]'s Articles
[Qu DK(曲道奎)]'s Articles
[Xu F(徐方)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Quadrupedal Robots Whole-Body Motion Control Based on Centroidal Momentum Dynamics.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.