Contact force distribution using centroidal momentum feedback for quadruped locomotion

Name: Contact force distribution using centroidal momentum feedback for quadruped locomotion
Author: Özçınar, Erim Can, Bebek, Özkan, Uğurlu, Regaip Barkan

İsim	Contact force distribution using centroidal momentum feedback for quadruped locomotion
Yazar	Özçınar, Erim Can, Bebek, Özkan, Uğurlu, Regaip Barkan
Basım Tarihi:	2023
Basım Yeri	- IEEE
Konu	Contact force distribution, Locomotion control, Quadruped walking
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	2-s2.0-85158145531
Kayıt Numarası	901485cf-4cda-4f1a-b27f-972fcd4a6659
Lokasyon	Mechanical Engineering
Tarih	2023
Örnek Metin	This paper proposes a method to distribute contact forces to eliminate undesired torso orientation fluctuations and regulate heading during dynamic quadruped trot-walking motion. The proposed method makes use of centroidal momentum, an essential physical quantity in characterizing the whole-body behavior and overall balance of the robot. The contact forces are computed using centroidal momentum feedback and injected into the locomotion controller via virtual model control, which can render virtual forces to regulate robot-environment interaction. In combining the virtual model control and centroidal momentum feedback, one can attain dynamically feasible contact force distribution, a key objective in controlling dynamic quadruped locomotion. In order to validate the proposed method, a series of simulation experiments were conducted using a realistic model of our quadruped robot Kara. As a result, we obtained dynamically consistent trot-walking behavior in which torso orientation and heading were well regulated.
DOI	10.1109/ICM54990.2023.10101987

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Contact force distribution using centroidal momentum feedback for quadruped locomotion

Yazar Özçınar, Erim Can, Bebek, Özkan, Uğurlu, Regaip Barkan

Basım Tarihi 2023

Basım Yeri - IEEE

Konu Contact force distribution, Locomotion control, Quadruped walking

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 2-s2.0-85158145531

Kayıt Numarası 901485cf-4cda-4f1a-b27f-972fcd4a6659

Lokasyon Mechanical Engineering

Tarih 2023

Örnek Metin This paper proposes a method to distribute contact forces to eliminate undesired torso orientation fluctuations and regulate heading during dynamic quadruped trot-walking motion. The proposed method makes use of centroidal momentum, an essential physical quantity in characterizing the whole-body behavior and overall balance of the robot. The contact forces are computed using centroidal momentum feedback and injected into the locomotion controller via virtual model control, which can render virtual forces to regulate robot-environment interaction. In combining the virtual model control and centroidal momentum feedback, one can attain dynamically feasible contact force distribution, a key objective in controlling dynamic quadruped locomotion. In order to validate the proposed method, a series of simulation experiments were conducted using a realistic model of our quadruped robot Kara. As a result, we obtained dynamically consistent trot-walking behavior in which torso orientation and heading were well regulated.

DOI 10.1109/ICM54990.2023.10101987