A simple yet effective whole-body locomotion framework for quadruped robots
A simple yet effective whole-body locomotion framework for quadruped robots
Gennaro Raiola, Enrico Mingo Hoffman, Michele Focchi, Nikos Tsagarakis and Claudio Semini
This work proposes a hierarchical whole-body framework able to
generate different kinds of gaits, ranging from very dynamic gaits
such as the trot, to more static gaits like the crawl.
The framework is composed of a priority-based whole-body controller that works in synergy with a walking pattern generator
and does not require any higher level planning for the CoM trajectories (i.e. is planner-free), nor state estimation.
The approach introduces a smart use of the postural task to remove indeterminacy
and achieves consistency between feet and base motion
while aiming to keep a well behaved kinematic configuration.
the paper is available at:
https://www.frontiersin.org/articles/...