Towards Generation and Transition of Diverse Gaits for Quadrupedal Robots Based on Trajectory Optimization and Whole-Body Impedance Control

Proceedings Paper Automation & Control Systems

Modeling and Trajectory Optimization for Standing Long Jumping of a Quadruped with A Preloaded Elastic Prismatic Spine

Keran Ye et al.

Summary: This study presents a novel methodology to model and optimize trajectories of a quadrupedal robot with spinal compliance to improve standing jump performance. Results indicate that a less stiff spring can enhance jumping performance by trading-off overall energy efficiency to unleash more motor power for propulsion. Visualizing the impact of spring coefficients on the overall optimization routine helps identify the suitable parameter region.

2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) (2021)

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Proceedings Paper Automation & Control Systems

Trotting and Pacing Locomotion of a Position-Controlled Quadruped Robot

Guoteng Zhang et al.

Summary: This paper presents an implementation of joint velocity programming technique to regulate the body's moving speed and orientation for a position-controlled quadruped robot that performs trotting or pacing locomotion. The controllers in these planes are integrated to produce joint velocities that enable robust trotting and pacing locomotion at a variety of speeds and directions, despite lacking force control or feedback techniques. Physical test results as well as simulating results demonstrate control of the quadruped robot SmarQ to perform omni-directional locomotion, impact recovery, and adaptability to uneven terrains.

2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) (2021)

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Article Robotics