Preview control-based jumping and spot-jogging trajectory generation for quadruped robots

Name: Preview control-based jumping and spot-jogging trajectory generation for quadruped robots
Author: Özkaynak, İbrahim Burak, Uğurlu, Regaip Barkan

İsim	Preview control-based jumping and spot-jogging trajectory generation for quadruped robots
Yazar	Özkaynak, İbrahim Burak, Uğurlu, Regaip Barkan
Basım Tarihi:	2023
Basım Yeri	- IEEE
Konu	Jogging robot, Jumping robot, Preview control, Quadruped locomotion, Trajectory generation, Zmp
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	1935-4576
Kayıt Numarası	48f309c9-7c09-488e-b172-c8944cd0686f
Lokasyon	Mechanical Engineering
Tarih	2023
Notlar	National Natural Science Foundation of China
Örnek Metin	This work presents a vertical center of mass (CoM) trajectory generation approach based on preview control for quadruped robots to accomplish agile locomotion tasks such as jumping and jogging. Conventionally, preview control is implemented to walking planning with constant CoM height, since this condition renders the pendulum equation linear. In this matter, we show that the same implementation can be done for varying CoM height, while the pendulum frequency is constant. To this end, we compactly derived the infinite horizon and finite horizon time-invariant linear quadratic regulator solutions for potential real-time applicability. The proposed trajectory generation approach was tested and compared with conventional approaches via a set of simulation experiments, where we used a realistic model of our quadruped robot Kara. As a result, we obtained dynamically-balanced, coherent, and continuous jumping and spot-jogging behavior, adequately confirming our approach.
DOI	10.1109/INDIN51400.2023.10217866

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Özyeğin Üniversitesi

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Preview control-based jumping and spot-jogging trajectory generation for quadruped robots

Yazar Özkaynak, İbrahim Burak, Uğurlu, Regaip Barkan

Basım Tarihi 2023

Basım Yeri - IEEE

Konu Jogging robot, Jumping robot, Preview control, Quadruped locomotion, Trajectory generation, Zmp

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 1935-4576

Kayıt Numarası 48f309c9-7c09-488e-b172-c8944cd0686f

Lokasyon Mechanical Engineering

Tarih 2023

Notlar National Natural Science Foundation of China

Örnek Metin This work presents a vertical center of mass (CoM) trajectory generation approach based on preview control for quadruped robots to accomplish agile locomotion tasks such as jumping and jogging. Conventionally, preview control is implemented to walking planning with constant CoM height, since this condition renders the pendulum equation linear. In this matter, we show that the same implementation can be done for varying CoM height, while the pendulum frequency is constant. To this end, we compactly derived the infinite horizon and finite horizon time-invariant linear quadratic regulator solutions for potential real-time applicability. The proposed trajectory generation approach was tested and compared with conventional approaches via a set of simulation experiments, where we used a realistic model of our quadruped robot Kara. As a result, we obtained dynamically-balanced, coherent, and continuous jumping and spot-jogging behavior, adequately confirming our approach.

DOI 10.1109/INDIN51400.2023.10217866