A Coordinate-based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots
Dominic Lakatos, Yuri Federigi, Thomas Gumpert, Bernd Henze, Milan Hermann, Florian Loeffl, Florian Schmidt, Daniel Seidel
Abstract
The paper addresses the static balancing and walking of elastically actuated legged robots. The control is realized by commanding the motor positions only and exploiting the bijective relation between motor and link positions at equilibrium under static external forces. The approach is formulated in a quite general framework first. The main implementation contribution is the definition of a body coordinate system and of an appropriate set of constraints, which leads to a fully determined system of equations. In addition to the desired COM and the vertical foot positions, which are defined by the walking task and the terrain, the imposed constraints are related to distances between individual legs. The controller is experimentally validated on a compliantly actuated quadruped.
BibTeX
@inproceedings{icra2019_acoordinatebased,
title = {A Coordinate-based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots},
author = {Dominic Lakatos and Yuri Federigi and Thomas Gumpert and Bernd Henze and Milan Hermann and Florian Loeffl and Florian Schmidt and Daniel Seidel and Alin Albu-Schäffer},
booktitle = {ICRA 2019},
year = {2019}
}