Detection and localization of shin collisions and reactive actions in quadruped robots
Title: On the detection and localization of shin collisions and reactive actions in quadruped robots.
Authors: Victor Barasuol, Geoff Fink, Michele Focchi, Darwin G. Caldwell and Claudio Semini.
In this work, we investigate the impact of shin (distal limb) collisions on the quadruped locomotion performance. In particular, we carry out a detailed study on the locomotion performance sensitivity to systematic errors and delays in the estimation of the shin contact location. We propose a sensor-less model based on kinematics to estimate the location of a single contact point at the shin level. In order to improve the robustness of robot locomotion, we use insights from our sensitivity study and our proposed model to develop a reactive strategy to detect and feedback information about the contact into the trunk controller. The effectiveness of the proposed approach is experimentally demonstrated on the HyQ robot.
The technical details of our approach can be found in the proceedings of The 22nd International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2019).
Pre-prints of all our papers (including this one) can be found here: https://dls.iit.it/dls-publications
Acknowledgements: Lidia Furno, Octavio Villarreal, Carlos Gonzalez, Shamel Fahmi, Romeo Orsolino, Chundri Boelens, Gennaro Raiola, Mohamed Emara, Salvatore Casella, Marco Ronchi and Fabrizio Romanelli.
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