Author
Özkaynak, İbrahim Burak, Uğurlu, Regaip Barkan
Publication Date
2023
Publication Place
-
IEEE
Subject
Jogging robot, Jumping robot, Preview control, Quadruped locomotion, Trajectory generation, Zmp
Type
Document
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
1935-4576
Record ID
48f309c9-7c09-488e-b172-c8944cd0686f
Library Location
Mechanical Engineering
Date
2023
Notes
National Natural Science Foundation of China
Sample Text
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
