Quadrupedal Robots Whole-Body Motion Control Based on Centroidal Momentum Dynamics

	Quadrupedal Robots Whole-Body Motion Control Based on Centroidal Momentum Dynamics
	Liu MM(刘明敏)2,3,4 ; Di, Pei 1; Tang, Chong 1; Xu F(徐方)1,3,4; Zou FS(邹风山)1; Qu DK(曲道奎)1,3,4
刊名	APPLIED SCIENCES-BASEL
	2019
卷号	9 期号:7 页码:1-13
关键词	centroidal momentum quadruped robot quadratic program motion control dynamics
ISSN号	2076-3417
产权排序	1
英文摘要	In this paper, we demonstrate a method for quadruped dynamic locomotion based on centroidal momentum control. Our method relies on a quadratic program that solves an optimal control problem to track the reference rate of change of centroidal momentum as closely as possible while satisfying the dynamic, input, and contact constraints of the full quadruped robot dynamics. Given the desired footstep positions, the according reference rate of change of the centroidal momentum is formulated as a feedback control task derived from the CoM motions of a simplified model (linear inverted pendulum) based on Capture Point dynamics. The joint accelerations and the Ground Reaction Forces(GRFs) outputted from the quadratic program solver are used to calculate the desired joint torques using an inverse dynamics algorithm. The performance of the proposed method is tested in simulation and on real hardware.
资助项目	National Key Research and Development Program of China[2017YFC0806700]
WOS关键词	CONTROL DESIGN ; LOCOMOTION
WOS研究方向	Chemistry ; Materials Science ; Physics
语种	英语
WOS记录号	WOS:000466547500070
资助机构	National Key Research and Development Program of China
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/24945]
专题	沈阳自动化研究所_其他
通讯作者	Liu MM(刘明敏); Di, Pei
作者单位	1.SIASUN Robot & Automation Co., Ltd., No. 33 Quan Yun Road, Hunnan New District, Shenyang 110168, China 2.University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing 100049, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences
推荐引用方式 GB/T 7714	Liu MM,Di, Pei,Tang, Chong,et al. Quadrupedal Robots Whole-Body Motion Control Based on Centroidal Momentum Dynamics[J]. APPLIED SCIENCES-BASEL,2019,9(7):1-13.
APA	Liu MM,Di, Pei,Tang, Chong,Xu F,Zou FS,&Qu DK.(2019).Quadrupedal Robots Whole-Body Motion Control Based on Centroidal Momentum Dynamics.APPLIED SCIENCES-BASEL,9(7),1-13.
MLA	Liu MM,et al."Quadrupedal Robots Whole-Body Motion Control Based on Centroidal Momentum Dynamics".APPLIED SCIENCES-BASEL 9.7(2019):1-13.