Quadrupedal walking motion and footstep placement through Linear Model Predictive Control

The present work addresses the generation of a walking gait with automatic footstep placement for a quadrupedal robot, within a Linear Model Predictive Control framework. Existing work has shown how this is only possible within a non-convex programming framework, finding a solution of which is well-...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) S. 2267 - 2273
Hauptverfasser: Laurenzi, Arturo, Hoffman, Enrico Mingo, Tsagarakis, Nikos G.
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 01.10.2018
Schlagworte:
Legged locomotion
Optimization
Planning
Robot kinematics
Stability analysis
ISSN:2153-0866
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Abstract The present work addresses the generation of a walking gait with automatic footstep placement for a quadrupedal robot, within a Linear Model Predictive Control framework. Existing work has shown how this is only possible within a non-convex programming framework, finding a solution of which is well-known to be very hard. We propose a way to formulate the joint optimization problem as an approximate QP with linear constraints, whose global optimum can be quickly found with off-the-shelf solvers. More specifically, this is done by introducing auxiliary states and control inputs, each of which is subject to linear constraints that are inspired from the literature on bipedal locomotion. Finally, we validate our method on the CENTAURO robot, a hybrid wheeled-legged quadruped with a humanoid upper-body.
AbstractList The present work addresses the generation of a walking gait with automatic footstep placement for a quadrupedal robot, within a Linear Model Predictive Control framework. Existing work has shown how this is only possible within a non-convex programming framework, finding a solution of which is well-known to be very hard. We propose a way to formulate the joint optimization problem as an approximate QP with linear constraints, whose global optimum can be quickly found with off-the-shelf solvers. More specifically, this is done by introducing auxiliary states and control inputs, each of which is subject to linear constraints that are inspired from the literature on bipedal locomotion. Finally, we validate our method on the CENTAURO robot, a hybrid wheeled-legged quadruped with a humanoid upper-body.
Author Hoffman, Enrico Mingo
Tsagarakis, Nikos G.
Laurenzi, Arturo
Author_xml – sequence: 1
  givenname: Arturo
  surname: Laurenzi
  fullname: Laurenzi, Arturo
  organization: Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy
– sequence: 2
  givenname: Enrico Mingo
  surname: Hoffman
  fullname: Hoffman, Enrico Mingo
  organization: Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy
– sequence: 3
  givenname: Nikos G.
  surname: Tsagarakis
  fullname: Tsagarakis, Nikos G.
  organization: Advanced Robotics Department (ADVR), Istituto Italiano di Tecnologia, Genova, Italy
BookMark eNotkM1OAjEYAKvRREQewHjpCyx-bbelPRqiSILB34Mn0rJfobq0m27R-PaayGkylznMOTmJKSIhlwzGjIG5nj8vX8YcmB5raYQy_IiMzEQzKbTSYGo4JgP-ZxVopc7IqO8_AIArLfSkHpD3p71t8r7Dxrb027afIW7oLpWQIrWxoT6l0hfsaNfaNe4wFlq2Oe03W7oIEW2mD6nBlj5mbMK6hC-k0xRLTu0FOfW27XF04JC83d2-Tu-rxXI2n94sqi2XvFSOGe24tehw4oHLmqOrUYLz2oEXlgkDvl43Unora5BSKaiNlgKZdpJ5MSRX_92AiKsuh53NP6vDDPELTVBV5g
ContentType Conference Proceeding
DBID 6IE
6IH
CBEJK
RIE
RIO
DOI 10.1109/IROS.2018.8593692
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Proceedings Order Plan (POP) 1998-present by volume
IEEE Xplore All Conference Proceedings
IEEE Electronic Library (IEL)
IEEE Proceedings Order Plans (POP) 1998-present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Electronic Library (IEL)
  url: https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
EISBN 9781538680940
1538680947
EISSN 2153-0866
EndPage 2273
ExternalDocumentID 8593692
Genre orig-research
GroupedDBID 6IE
6IF
6IG
6IH
6IL
6IN
AAJGR
AAWTH
ABLEC
ABQGA
ALMA_UNASSIGNED_HOLDINGS
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
CBEJK
IEGSK
IJVOP
OCL
RIE
RIL
RIO
ID FETCH-LOGICAL-h252t-b198b2aaebe7f02542eb4e50bf8b0f3a1390f4cd55fa5405566049853e18b51f3
IEDL.DBID RIE
ISICitedReferencesCount 20
ISICitedReferencesURI http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000458872702035&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
IngestDate Wed Aug 27 03:02:00 EDT 2025
IsDoiOpenAccess false
IsOpenAccess true
IsPeerReviewed false
IsScholarly true
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-h252t-b198b2aaebe7f02542eb4e50bf8b0f3a1390f4cd55fa5405566049853e18b51f3
OpenAccessLink https://hal.science/hal-04307640
PageCount 7
ParticipantIDs ieee_primary_8593692
PublicationCentury 2000
PublicationDate 2018-Oct.
PublicationDateYYYYMMDD 2018-10-01
PublicationDate_xml – month: 10
  year: 2018
  text: 2018-Oct.
PublicationDecade 2010
PublicationTitle 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublicationTitleAbbrev IROS
PublicationYear 2018
Publisher IEEE
Publisher_xml – name: IEEE
SSID ssj0002683874
ssj0001079896
Score 2.2053697
Snippet The present work addresses the generation of a walking gait with automatic footstep placement for a quadrupedal robot, within a Linear Model Predictive Control...
SourceID ieee
SourceType Publisher
StartPage 2267
SubjectTerms Legged locomotion
Optimization
Planning
Robot kinematics
Stability analysis
Title Quadrupedal walking motion and footstep placement through Linear Model Predictive Control
URI https://ieeexplore.ieee.org/document/8593692
WOSCitedRecordID wos000458872702035&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1JSwMxFA61eNCLSyvWjRw8Ou0sSZOci0VBat2gnkqWFxTKTKkz-vdNMkOr4MXDQCaHScgb8rbvvQ-hSwtCgUyHkTbEOAfF2IhToSMO1ghCMiV0YC25Y5MJn83EtIWu1rUwABDAZ9D3w5DLN4WufKhswAP9nLtwtxhjda3WJp4SM8Gb1nH-PR3yjDPSJDKTWAxuH--fPJaL95vv_CJUCfpkvPe_neyj7qYwD0_XKucAtSA_RLs_egp20OtDJc2qWoKRC_wlFz4UjmuuHixzg21RlE6ySxzQWH4Z3HD1YOeXuv8ee3q0hVvGp3D8ZYhHNZy9i17G18-jm6jhT4jeUpqWkUoEV6mUTk7M-qr3FBQBGivLVWwz6Yy_2BJtKLXSG27OsnP-gtPfkHBFE5sdoXZe5HCMsJBEW2kAhlaRWBORJZQlSsbauU_u6aGOP6T5sm6RMW_O5-Tv6VO04-VQY-LOULtcVXCOtvVn-f6xughy_QY1kKVE
linkProvider IEEE
linkToHtml http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1bT8IwFG4ImqgvXsB4tw8-OtilZe0zkUBERMUEn0gvp8GEbAQ3_fu22wKa-OLDkq4Pa9Oz9Ny-cz6EbgxwCSLseEoTbR0UbTxGufIYGM0JiSRXBWvJMB6N2HTKxzV0u66FAYACfAYtNyxy-TpVuQuVtVlBP2cv3C1KSBiU1VqbiIofc1Y1j3PvYYdFLCZVKjPweXvw_Pji0FysVX3pF6VKoVF6-__bywFqbkrz8HitdA5RDZIjtPejq2ADvT3lQq_yJWixwF9i4YLhuGTrwSLR2KRpZmW7xAUeyy2DK7YebD1T--djR5C2sMu4JI67DnG3BLQ30WvvbtLtexWDgjcPaZh5MuBMhkJYScXG1b2HIAlQXxomfRMJa_75hihNqRHOdLO2nfUYrAaHgEkamOgY1ZM0gROEuSDKCA3QMZL4ivAooHEgha-sA2WfU9RwhzRblk0yZtX5nP09fY12-pOH4Ww4GN2fo10nkxIhd4Hq2SqHS7StPrP3j9VVIeNv_LKoiw
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=2018+IEEE%2FRSJ+International+Conference+on+Intelligent+Robots+and+Systems+%28IROS%29&rft.atitle=Quadrupedal+walking+motion+and+footstep+placement+through+Linear+Model+Predictive+Control&rft.au=Laurenzi%2C+Arturo&rft.au=Hoffman%2C+Enrico+Mingo&rft.au=Tsagarakis%2C+Nikos+G.&rft.date=2018-10-01&rft.pub=IEEE&rft.eissn=2153-0866&rft.spage=2267&rft.epage=2273&rft_id=info:doi/10.1109%2FIROS.2018.8593692&rft.externalDocID=8593692