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A Kinodynamic steering-method for legged multi-contact locomotion

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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https://hal.laas.fr/hal-01486933
Contributor : Pierre Fernbach <>
Submitted on : Wednesday, July 26, 2017 - 1:28:34 PM
Last modification on : Friday, January 10, 2020 - 9:10:09 PM

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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.

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  • HAL Id : hal-01486933, version 2

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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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