Kit based motion generator for a soft walking robot

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-review

Authors

  • Lars Schiller
  • Duraikannan Maruthavanan
  • Arthur Seibel
  • Josef Schlattmann

In order to control high-level goals such as walking speed and direction or position of legged robots, a locomotion controller is required. This complicated task can be solved in many different ways. The approach presented here selects the optimal gait pattern from a discrete, predefined set of possibilities to get closer to a given target position. The method is based on an off-line component: elementary gait patterns are generated by trajectory optimization using a simulation model, and an on-line component: for given robot and target positions the optimal next elementary gait pattern is chosen based on a minimization problem, and the joint space references are derived from it. To ensure feasible subsequent poses, the elementary patterns always begin and end with one and the same pose, so that they can be placed on top of each other like Lego bricks. A great advantage of this method is a straightforward transition between different motion modes, such as switching from trotting to crawling. It is discussed how many different elementary patterns are needed to ensure a stable locomotion control. Finally, in simulation and experiment, it is shown that the robot can master any obstacle course using the proposed locomotion controller.

Original languageEnglish
Title of host publicationASME 2020 International Mechanical Engineering Congress and Exposition : Volume 7A: Dynamics, Vibration, and Control: Control Theory and Applications
Number of pages8
PublisherThe American Society of Mechanical Engineers (ASME)
Publication date16.11.2020
Article numberV07AT07A009
ISBN (electronic)978-0-7918-8454-6
DOIs
Publication statusPublished - 16.11.2020
Externally publishedYes
EventASME 2020 International Mechanical Engineering Congress and Exposition - IMECE 2020: ASME’s largest research and development - Virtual Conference, Online, Virtual, Online
Duration: 16.11.202019.11.2020
https://event.asme.org/IMECE-2020/Program

Bibliographical note

Publisher Copyright:
© 2020 American Society of Mechanical Engineers (ASME). All rights reserved.

DOI

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