'Institute of Electrical and Electronics Engineers (IEEE)'
Doi
Abstract
This paper presents a realtime motion planning and control method which enables a quadrupedal robot to execute dynamic gaits including trot, pace and dynamic lateral walk, as well as gaits with full flight phases such as jumping, pronking and running trot. The proposed method also enables smooth transitions between these gaits. Our approach relies on an online ZMP based motion planner which continuously updates the reference motion trajectory as a function of the contact schedule and the state of the robot. The reference footholds for each leg are obtained by solving a separate optimization problem.The resulting optimized motion plans are tracked by a hierarchical whole-body controller. Our framework has been tested in simulation and on ANYmal, a fully torque-controllable quadrupedal robot, both in simulation and on the actual robot.ISSN:2377-376
