HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Journal articles

Multi-contact Locomotion of Legged Robots

Justin Carpentier 1 Nicolas Mansard 1
1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : Locomotion of legged robots on arbitrary terrain using multiple contacts is yet an open problem. To tackle it, a common approach is to rely on reduced template models (e.g. the linear inverted pendulum). However, most of existing template models are based on some restrictive hypotheses that limit their range of applications. Moreover, reduced models are generally not able to cope with the constraints of the robot complete model, such as the kinematic limits. In this paper, we propose a complete solution relying on a generic template model, based on the centroidal dynamics, able to quickly compute multi-contact locomotion trajectories for any legged robot on arbitrary terrains. The template model relies on exact dynamics and is thus not limited by arbitrary assumption. We also propose a generic procedure to handle feasibility constraints due to the robot whole body as occupancy measures, and a systematic way to approximate them using off-line learning in simulation. An efficient solver is finally obtained by introducing an original second-order approximation of the centroidal wrench cone. The effectiveness and the versatility of the approach is demonstrated in several multi-contact scenarios with two humanoid robots both in reality and in simulation.
Complete list of metadata

Cited literature [65 references]  Display  Hide  Download

https://hal.laas.fr/hal-01859108
Contributor : Justin Carpentier Connect in order to contact the contributor
Submitted on : Tuesday, August 21, 2018 - 4:20:36 PM
Last modification on : Tuesday, April 5, 2022 - 3:42:58 AM
Long-term archiving on: : Thursday, November 22, 2018 - 7:02:59 PM

File

tro-carpentier-multicontact.pd...
Files produced by the author(s)

Identifiers

Citation

Justin Carpentier, Nicolas Mansard. Multi-contact Locomotion of Legged Robots. IEEE Transactions on Robotics, IEEE, 2018, 34 (6), pp.1441-1460. ⟨10.1109/TRO.2018.2862902⟩. ⟨hal-01859108⟩

Share

Metrics

Record views

416

Files downloads

295