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Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12

Abstract : This paper aims at showing the dynamic performance and reliability of the low-cost, open-access quadruped robot Solo-12, which is developed within the framework of Open Dynamic Robot Initiative. It presents the implementation of a state-of-the-art control pipeline, close to the one that was previously implemented on Mini Cheetah, which implements a model predictive controller based on the centroidal dynamics to compute desired contact forces in order to track a reference velocity. Different contributions are proposed to speed up the computation process, notably at the level of the state estimation and the whole body controller. Experimental results demonstrate that the robot closely follow the reference velocity while being highly reactive and able to recover from perturbations.
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https://hal.laas.fr/hal-03052451
Contributor : Pierre-Alexandre Léziart <>
Submitted on : Thursday, December 10, 2020 - 4:02:42 PM
Last modification on : Thursday, June 10, 2021 - 3:45:26 AM
Long-term archiving on: : Thursday, March 11, 2021 - 8:24:33 PM

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  • HAL Id : hal-03052451, version 1

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Pierre-Alexandre Léziart, Thomas Flayols, Felix Grimminger, Nicolas Mansard, Philippe Souères. Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12. 2021 IEEE International Conference on Robotics and Automation - ICRA, May 2021, Xi'an, China. ⟨hal-03052451⟩

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