Integrable Whole-Body Orientation Coordinates for Legged Robots

Yu-Ming Chen; Gabriel Nelson; Robert Griffin; Michael Posa; Jerry Pratt

IROS 2023poster8 citations

Integrable Whole-Body Orientation Coordinates for Legged Robots

Yu-Ming Chen, Gabriel Nelson, Robert Griffin, Michael Posa, Jerry Pratt

Abstract

Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a whole-body orientation that (i) depends on system configuration only and not a history of motion, (ii) can be representative of the orientation of the entire system while not being attached to any specific link, and (iii) has a rate of change that approximates total system angular momentum. We relate this orientation coordinate to past work, and discuss and demonstrate, including on hardware, several different uses for it.

BibTeX

@inproceedings{iros2023_integrablewholeb,
  title = {Integrable Whole-Body Orientation Coordinates for Legged Robots},
  author = {Yu-Ming Chen and Gabriel Nelson and Robert Griffin and Michael Posa and Jerry Pratt},
  booktitle = {IROS 2023},
  year = {2023}
}