 |
HAL-LAAS Open Archive Laboratory for Analysis and Architecture of Systems |  |
Conference papers
Multi-contact Locomotion of Legged Robots in Complex Environments – The Loco3D project
Abstract : Planning, adapting and executing multi-contact locomotion movements on legged robots in complex environments remains an open problem. In this proposal, we introduce a complete pipeline to address this issue in the context of humanoid robots inside industrial environments. This pipeline relies on a multi-stage approach in order to simplify the process flow and to exploit at best state-of-the-art techniques both in terms of contact planning, whole-body control and perception. The main challenges lie in the choice of the different modules composing this pipeline as well as their mutual interactions: e.g. at which frequency rates each module has to work in order to allow safe and robust locomotion? or which information must transit between the modules? We named this project Loco3D standing for Locomotion in 3D, in contrast to the classic locomotion on quasi-flat terrains, where the motion of the center of mass of the robot is mostly limited to a 2D plane.
Cited literature [15 references]
https://hal.laas.fr/hal-01543060
Contributor : Justin Carpentier <>
Submitted on : Tuesday, June 20, 2017 - 2:33:10 PM
Last modification on : Thursday, September 9, 2021 - 9:38:06 AM
Long-term archiving on: : Friday, December 15, 2017 - 9:05:59 PM
Contributor : Justin Carpentier <>
Submitted on : Tuesday, June 20, 2017 - 2:33:10 PM
Last modification on : Thursday, September 9, 2021 - 9:38:06 AM
Long-term archiving on: : Friday, December 15, 2017 - 9:05:59 PM
File
loco3d.pdf
Files produced by the author(s)
Licence
Distributed under a Creative Commons Attribution - ShareAlike 4.0 International License