Publication
Fast Trajectory Optimization for Legged Robots Using Vertex-Based ZMP Constraints
Related publications (61)
Optimization-based motion planning for legged robots
Legged machines have the potential to traverse terrain that wheeled robots cannot. These capabilities are useful in scenarios such as stairs in homes or debris-filled disaster scenes, such as earthquake areas. This thesis develops one of the algorithms nec ...
ETH Zurich2018Compliant universal grippers as adaptive feet in legged robots
Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser
This work investigates the usage of compliant universal grippers as a novel foot design for legged locomotion. The method of jamming of granular media in the universal grippers is characterized by having two distinct states: a soft, fluid-like state which ...
2018Online walking motion and foothold optimization for quadruped locomotion
Jonas Buchli, Farbod Farshidian, Alexander Winkler
Abstract: We present an algorithm that generates walking motions for quadruped robots without the use of an explicit footstep planner by simultaneously optimizing over both the Center of Mass (CoM) trajectory and the footholds. Feasibility is achieved by i ...
2018Towards Agility: Definition, Benchmark and Design Considerations for Small, Quadrupedal Robots
Agile quadrupedal locomotion in animals and robots is yet to be fully understood, quantified
or achieved. An intuitive notion of agility exists, but neither a concise definition nor a common
benchmark can be found. Further, it is unclear, what minimal leve ...
EPFL2018Steerable Locomotion Controller for Six-strut Icosahedral Tensegrity Robots
Chiara Ercolani, Massimo Vespignani
This paper proposes a novel steerable locomotion controller for six-strut tensegrity robots. Tensegrity robots are lightweight and have many promising features such as robustness, shape-shifting capabilities, and deployability, making them good candidates ...
2018Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization
Jonas Buchli, Marco Hutter, Alexander Winkler
We present a single trajectory optimization formulation for legged locomotion that automatically determines the gait sequence, step timings, footholds, swing-leg motions, and six-dimensional body motion over nonflat terrain, without any additional modules. ...
2018Challenges in visual and inertial information gathering for a sprawling posture robot
Auke Ijspeert, Kamilo Andres Melo Becerra, Tomislav Horvat, Mahsa Parsapour
We discuss challenges a sprawling posture legged robot faces when moving in a complex environment. These kind of robots can be used for search and rescue applications when proper sensors are used and placed correctly. Finding an adequate position for placi ...
2017Rich and Robust Bio-Inspired Locomotion Control for Humanoid Robots
Nicolas Benoît Dominique Van der Noot
Bipedal locomotion is a challenging task in the sense that it requires to maintain dynamic balance while steering the gait in potentially complex environments. Yet, humans usually manage to move without any apparent difficulty, even on rough terrains. This ...
EPFL2017Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion
We present a trajectory optimization framework for legged locomotion on rough terrain. We jointly optimize the center of mass motion and the foothold locations, while considering terrain conditions. We use a terrain costmap to quantify the desirability of ...
IEEE2017Model predictive control based framework for CoM control of a quadruped robot
Auke Ijspeert, Kamilo Andres Melo Becerra, Tomislav Horvat
Model Predictive Control is becoming more and more present in robotic applications. It has been successfully used in control of humanoid robots to adjust positions of the footsteps in order to satisfy stability constraints. In this paper we show how to ada ...
2017