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A Kinodynamic steering-method for legged multi-contact locomotion

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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.
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Origin : Files produced by the author(s)
Comment : 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 au- tomatic 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 kinody- namic contact planner for legged robots.
Format : Video
Origin : Files produced by the author(s)
Comment : This video shows the results of our planner in five different scenarios and compare it against the geometric and quasi-static version of the RB-RRT planner. Each scenarios highlights a specific property of our planner, such as obstacle avoidance in constrained environments, avoiding local minima, acyclic contact sequence with varying number of contacts. It also features two scenarios where no quasi-static solution exists : a jump and going down a steep slope.
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Dates and versions

hal-01486933 , version 1 (12-04-2017)
hal-01486933 , version 2 (26-07-2017)

Identifiers

  • HAL Id : hal-01486933 , version 2

Cite

Pierre Fernbach, Steve Tonneau, Andrea del Prete, Michel Taïx. A Kinodynamic steering-method for legged multi-contact locomotion. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. 7p. ⟨hal-01486933v2⟩
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