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Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion

Publications associées (38)

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A Muscle-Reflex Model of Forelimb and Hindlimb of Felidae Family of Animal with Dynamic Pattern Formation Stimuli

Auke Ijspeert, Azhar Aulia Saputra

Human and animal locomotion are controlled by complex neural circuits, which can also serve as inspiration for designing locomotion controllers for dynamic locomotion in legged robots. We develop a locomotion controller model including a central pattern ge ...

IEEE2020

Dynamic locomotion on unstructured and uneven terrain is a challenging task in legged robotics. Especially when it comes to slippery ground conditions, common state estimation and control algorithms suffer from the usual no-slip assumption. In fact, there ...

2019

We show dynamic locomotion strategies for wheeled quadrupedal robots that combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the wheels. Our approach r ...

2019

Towards a Passive Adaptive Planar Foot with Ground Orientation and Contact Force Sensing for Legged Robots

Laura Isabel Paez Coy, Marco Hutter, Klajd Lika

Adapting to the ground enables stable footholds in legged locomotion by exploiting the structure of the terrain. On that account, we present a passive adaptive planar foot with three rotational degrees of freedom that is lightweight and thus suited for hig ...

2019

Decentralized control with cross-coupled sensory feedback between body and limbs in sprawling locomotion

Auke Ijspeert, Shura Suzuki

Quadrupeds achieve rapid and highly adaptive locomotion owing to the coordination between their legs and other body parts such as their trunk, head, and tail, i.e. body-limb coordination. Therefore, a better understanding of the mechanism underlying body-l ...

IOP PUBLISHING LTD2019

Locomotion planning for legged systems requires reasoning about suitable contact schedules. The contact sequence and timings constitute a hybrid dynamical system and prescribe a subset of achievable motions. State-of-the-art approaches cast motion planning ...

IEEE2019

Optimization-based motion planning for legged robots

Alexander Winkler

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 Zurich2018

An Overview on Principles for Energy Efficient Robot Locomotion

Salman Faraji

Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy eff ...

FRONTIERS MEDIA SA2018

Compliant 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 ...

2018

Online 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 ...

2018