Sequential Trajectory Generation for Dynamic Multi-Contact Locomotion Synchronizing Contact

M. Morisawa, Rafael Cisneros, M. Benallegue, Iori Kumagai, Adrien Escande, F. Kanehiro
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引用次数: 4

Abstract

This paper proposes a new framework to generate 3D multi-contact locomotion with low computation cost. The proposed framework consists of (a) the derivation of the prospect centroidal dynamics by introducing a force distribution ratio, where it can be represented with a formulation similar to the inverted pendulum’s one, and (b) the development of a fast computation method for generating a 3D center-of-mass (CoM) trajectory. Then (c) the ZMP reference is modified so that feasible contact wrench can be generated by a force distribution using the centroidal dynamics with the approximated friction cone. The proposed method allows to generate a trajectory sequentially and to change the locomotion parameters at any time even under variable CoM height. Then, the contact timing of each end-effector can be adjusted to synchronize with the actual contact with the environment by shortening or extending the desired duration of the support phase. This can be used to improve the robustness of the locomotion. The validity of the proposed method is confirmed by several numerical results in dynamic simulator: a CoM motion while changing the contact timing, a multi-contact locomotion considering a transition between biped and quadruped walking on an horizontal floor to move below obstacles. Finally, we also show a climbing stairs using handrail which requires dynamic changes of unilateral and bilateral contacts.
动态多接触运动同步接触序列轨迹生成
本文提出了一种计算成本低的三维多接触运动生成新框架。提出的框架包括:(a)通过引入力分布比来推导前景质心动力学,该质心动力学可以用类似倒立摆的公式表示;(b)开发生成三维质心(CoM)轨迹的快速计算方法。然后(c)修改ZMP参考,使可行的接触扳手可以通过使用近似摩擦锥的质心动力学的力分布产生。所提出的方法允许在任意时刻,即使在可变CoM高度的情况下,顺序生成轨迹并改变运动参数。然后,每个末端执行器的接触时间可以通过缩短或延长所需的支撑阶段的持续时间来调整,以与实际与环境的接触同步。这可以用来提高运动的稳健性。动态仿真的数值结果验证了该方法的有效性:改变接触时间时的CoM运动,考虑两足和四足在水平地板上行走过渡到障碍物下的多接触运动。最后,我们还展示了使用扶手爬楼梯,这需要单侧和双侧接触的动态变化。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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