An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion. Abdalla, A., Focchi, M., Orsolino, R., & Semini, C. IEEE Transactions on Robotics, 2023. Conference Name: IEEE Transactions on Roboticsdoi abstract bibtex Developing feasible body trajectories for legged systems on arbitrary terrains is a challenging task. In this article, we present a paradigm that allows to design feasible Center of Mass (CoM) and body trajectories in an efficient manner. In our previous work (Orsolino et al., 2020), we introduced the notion of the two-dimensional feasible region, where static balance and the satisfaction of joint-torque limits were guaranteed, whenever the projection of the CoM lied inside the proposed admissible region. In this work, we propose a general formulation of the improved feasible region that guarantees dynamic balance alongside the satisfaction of both joint-torque and kinematic limits in an efficient manner. To incorporate the feasibility of the kinematic limits, we introduce an algorithm that computes the reachable region of the CoM. Furthermore, we propose an efficient planning strategy that utilizes the improved feasible region to design feasible CoM and body orientation trajectories. Finally, we validate the capabilities of the improved feasible region and the effectiveness of the proposed planning strategy, using simulations and experiments on the 90 kg hydraulically actuated quadruped and the 21 kg Aliengo robots.
@article{abdalla_efficient_2023,
title = {An {Efficient} {Paradigm} for {Feasibility} {Guarantees} in {Legged} {Locomotion}},
issn = {1941-0468},
doi = {10.1109/TRO.2023.3280431},
abstract = {Developing feasible body trajectories for legged systems on arbitrary terrains is a challenging task. In this article, we present a paradigm that allows to design feasible Center of Mass (CoM) and body trajectories in an efficient manner. In our previous work (Orsolino et al., 2020), we introduced the notion of the two-dimensional feasible region, where static balance and the satisfaction of joint-torque limits were guaranteed, whenever the projection of the CoM lied inside the proposed admissible region. In this work, we propose a general formulation of the improved feasible region that guarantees dynamic balance alongside the satisfaction of both joint-torque and kinematic limits in an efficient manner. To incorporate the feasibility of the kinematic limits, we introduce an algorithm that computes the reachable region of the CoM. Furthermore, we propose an efficient planning strategy that utilizes the improved feasible region to design feasible CoM and body orientation trajectories. Finally, we validate the capabilities of the improved feasible region and the effectiveness of the proposed planning strategy, using simulations and experiments on the 90 kg hydraulically actuated quadruped and the 21 kg Aliengo robots.},
journal = {IEEE Transactions on Robotics},
author = {Abdalla, Abdelrahman and Focchi, Michele and Orsolino, Romeo and Semini, Claudio},
year = {2023},
note = {Conference Name: IEEE Transactions on Robotics},
keywords = {Computational geometry, Friction, Heuristic algorithms, Kinematics, Legged locomotion, Planning, Robots, Trajectory, improved feasible region, legged robots, locomotion, planning, reachable region, trajectory optimization (TO)},
pages = {1--17},
}
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In this work, we propose a general formulation of the improved feasible region that guarantees dynamic balance alongside the satisfaction of both joint-torque and kinematic limits in an efficient manner. To incorporate the feasibility of the kinematic limits, we introduce an algorithm that computes the reachable region of the CoM. Furthermore, we propose an efficient planning strategy that utilizes the improved feasible region to design feasible CoM and body orientation trajectories. 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