A Combined Limit Cycle - Zero Moment Point based Approach for Omni-Directiornal Bounding (CLAWAR'17)
A Combined Limit Cycle - Zero Moment Point based Approach for Omni-Directiornal Quadrupedal Bounding
R. Orsolino, M. Focchi, D. G. Caldwell and C. Semini
The 20th International Conference on Cimbing and Walking Robots and the Support Technologies for Mobile Machines 2017
In this paper we describe the steps that allowed us to realize real outdoor experiments of HyQ bounding at different speeds and performing omni-directional maneuvers. The strategy is composed of two parts: the first one is an offline optimization that finds a stable periodic limit cycle which represents the base-line bounding gait; the second part is a speed controller that adjusts online the main gait parameters based on the high-level speed commands coming from the external operator. In the tests HyQ reached a forward speed of 2.5m/s, lateral speed of 1m/s and angular speed of 50deg/s in simulation and respectively 1m/s, 0.5m/s and 30deg/s on the hardware experiments.
Pre-prints of all our papers can be found here: http://www.iit.it/hyq (Publications)
The following publications provide the details about the whole-body controller:
M. Focchi, A. del Prete, I. Havoutis, R. Featherstone, D. G. Caldwell, C. Semini, High-slope terrain locomotion for torque-controlled quadruped robots, Autonomous Robots, 259-272, 2017.
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