Towards More Possibilities: Motion Planning and Control for Hybrid Locomotion of Wheeled-legged Robots

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Towards More Possibilities: Motion Planning and Control for Hybrid Locomotion of Wheeled-legged Robots
Title:
Towards More Possibilities: Motion Planning and Control for Hybrid Locomotion of Wheeled-legged Robots
Journal Title:
IEEE Robotics and Automation Letters
Keywords:
Publication Date:
09 March 2020
Citation:
J. Sun, Y. You, X. Zhao, A. H. Adiwahono and C. M. Chew, "Towards More Possibilities: Motion Planning and Control for Hybrid Locomotion of Wheeled-legged Robots," in IEEE Robotics and Automation Letters.
Abstract:
This paper proposed a control framework to tackle the hybrid locomotion problem of wheeled-legged robots. It comes as a hierarchical structure with three layers: hybrid foot placement planning, Centre of Mass (CoM) trajectory optimization and whole-body control. General mathematical representation of foot movement is developed to analyze different motion modes and decide hybrid foot placements. Gait graph widely used in legged locomotion is extended to better describe the hybrid movement by adding extra foot velocity information. Thereafter, model predictive control is introduced to optimize the CoM trajectory based on the planned foot placements considering terrain height changing. The desired trajectories together with other kinematic and dynamic constraints are fed into a whole-body controller to produce joint commands. In the end, the feasibility of the proposed approach is demonstrated by the simulation and experiments of hybrid locomotion running on our wheeled quadrupedal robot Pholus.
License type:
PublisherCopyrights
Funding Info:
Description:
© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
ISSN:
2377-3766
2377-3774
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