(BIBTEX) fernbach:hal-01486933

A Kinodynamic steering-method for legged multi-contact locomotion. Pierre Fernbach, Steve Tonneau, Andrea Del Prete and Michel Taïx. In IEEE/RSJ International Conference on Intelligent Robots and Systems, page 7p., Vancouver, Canada, September 2017. (PDF)

Abstract

We present a novel method for synthesizing collision-free, dynamic locomotion behaviors for legged robots, including jumping, going down a very steep slope, or recovering from a push using the arms of the robot. The approach is automatic and generic: non-gaited motions, comprising arbitrary contact postures can be generated along any environment. At the core of our framework is a new steering method that generates trajectories connecting two states of the robot. These trajectories account for the state-dependent, centroidal dynamic constraints inherent to legged robots. The method, of low dimension, formulated as a Linear Program, is really efficient to compute, and can find an application in various problems related to legged locomotion. By incorporating this steering method into an existing sampling-based contact planner, we propose the first kinodynamic contact planner for legged robots.

Pdf

Bibtex entry

@INPROCEEDINGS { fernbach:hal-01486933,
    TITLE = { {A Kinodynamic steering-method for legged multi-contact locomotion} },
    AUTHOR = { Fernbach, Pierre and Tonneau, Steve and Del Prete, Andrea and Ta\"ix, Michel },
    URL = { https://hal.laas.fr/hal-01486933 },
    BOOKTITLE = { IEEE/RSJ International Conference on Intelligent Robots and Systems },
    ADDRESS = { Vancouver, Canada },
    HAL_LOCAL_REFERENCE = { Rapport LAAS n{\textdegree} 17054 },
    PAGES = { 7p. },
    YEAR = { 2017 },
    MONTH = { September },
    KEYWORDS = { kinodynamic ; legged robot ; humanoid robot ; Robotic ; motion planning ; dynamic equilibrium },
    PDF = { https://hal.laas.fr/hal-01486933/file/A%20Kinodynamic%20steering-method%20for%20legged%20multi-contact%20locomotion.pdf },
    HAL_ID = { hal-01486933 },
    HAL_VERSION = { v2 },
    ABSTRACT = { We present a novel method for synthesizing collision-free, dynamic locomotion behaviors for legged robots, including jumping, going down a very steep slope, or recovering from a push using the arms of the robot. The approach is automatic and generic: non-gaited motions, comprising arbitrary contact postures can be generated along any environment. At the core of our framework is a new steering method that generates trajectories connecting two states of the robot. These trajectories account for the state-dependent, centroidal dynamic constraints inherent to legged robots. The method, of low dimension, formulated as a Linear Program, is really efficient to compute, and can find an application in various problems related to legged locomotion. By incorporating this steering method into an existing sampling-based contact planner, we propose the first kinodynamic contact planner for legged robots. },
}