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dc.contributor.author
Winkler, Alexander W.
dc.contributor.author
Farshidian, Farbod
dc.contributor.author
Neunert, Michael
dc.contributor.author
Pardo, Diego
dc.contributor.author
Buchli, Jonas
dc.date.accessioned
2017-12-20T13:37:15Z
dc.date.available
2017-09-18T14:38:00Z
dc.date.available
2017-09-19T08:58:05Z
dc.date.available
2017-12-04T14:54:45Z
dc.date.available
2017-12-20T13:37:15Z
dc.date.issued
2017-05
dc.identifier.isbn
978-1-5090-4633-1
en_US
dc.identifier.other
10.1109/icra.2017.7989624
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/185421
dc.identifier.doi
10.3929/ethz-b-000185421
dc.description.abstract
We present an algorithm that generates walking motions for quadruped robots without the use of an explicit footstep planner by simultaneously optimizing over both the Center of Mass (CoM) trajectory and the footholds. Feasibility is achieved by imposing stability constraints on the CoM related to the Zero Moment Point and explicitly enforcing kinematic constraints between the footholds and the CoM position. Given a desired goal state, the problem is solved online by a Nonlinear Programming solver to generate the walking motion. Experimental trials show that the algorithm is able to generate walking gaits for multiple steps in milliseconds that can be executed on a real quadruped robot.
en_US
dc.format
application/pdf
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
Legged robots
en_US
dc.subject
legged locomotion
en_US
dc.subject
Motion and Path Planning
en_US
dc.title
Online walking motion and foothold optimization for quadruped locomotion
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
ethz.book.title
Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA)
en_US
ethz.pages.start
5308
en_US
ethz.pages.end
5313
en_US
ethz.version.deposit
acceptedVersion
en_US
ethz.event
International Conference on Robotics and Automation (ICRA 2017)
en_US
ethz.event.location
Singapore
en_US
ethz.event.date
May 29- June 3, 2017
en_US
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03965 - Buchli, Jonas (SNF-Professur) (ehem.) / Buchli, Jonas (SNF-Professur) (former)
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03965 - Buchli, Jonas (SNF-Professur) (ehem.) / Buchli, Jonas (SNF-Professur) (former)
en_US
ethz.tag
adrl
en_US
ethz.date.deposited
2017-09-18T14:38:00Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2017-09-19T08:58:08Z
ethz.rosetta.lastUpdated
2021-02-14T21:32:15Z
ethz.rosetta.versionExported
true
ethz.COinS
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