Notice

This record is currently in review state, the data hasn’t been validated yet.

Show simple item record

dc.contributor.author
Medeiros, Vivian S.
dc.contributor.author
Jelavic, Edo
dc.contributor.author
Bjelonic, Marko
dc.contributor.author
Siegwart, Roland
dc.contributor.author
Meggiolaro, Marco A.
dc.contributor.author
Hutter, Marco
dc.date.accessioned
2020-08-28T11:00:35Z
dc.date.available
2020-08-28T11:00:35Z
dc.date.issued
2020-07-01
dc.identifier.issn
2377-3766
dc.identifier.other
10.1109/LRA.2020.2990720
dc.identifier.uri
http://hdl.handle.net/20.500.11850/437203
dc.description.abstract
Wheeled-legged robots are an attractive solution for versatile locomotion in challenging terrain. They combine the speed and efficiency of wheels with the ability of legs to traverse challenging terrain. In this letter, we present a trajectory optimization formulation for wheeled-legged robots that optimizes over the base and wheels' positions and forces and takes into account the terrain information while computing the plans. This enables us to find optimal driving motions over challenging terrain. The robot is modeled as a single rigid-body, which allows us to plan complex motions and still keep a low computational complexity to solve the optimization quickly. The terrain map, together with the use of a stability constraint, allows the optimizer to generate feasible motions that cannot be discovered without taking the terrain information into account. The optimization is formulated as a Nonlinear Programming (NLP) problem and the reference motions are tracked by a hierarchical whole-body controller that computes the torque actuation commands for the robot. The trajectories have been experimentally verified on quadrupedal robot ANYmal equipped with non-steerable torque-controlled wheels. Our trajectory optimization framework enables wheeled quadrupedal robots to drive over challenging terrain, e.g., steps, slopes, stairs, while negotiating these obstacles with dynamic motions.
dc.publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
dc.subject
Legged robots
dc.subject
wheeled robots
dc.subject
motion planning
dc.subject
optimization and optimal control
dc.title
Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain
dc.type
Journal Article
ethz.journal.title
IEEE Robotics and Automation Letters
ethz.journal.volume
5
ethz.journal.issue
3
ethz.pages.start
4172
ethz.pages.end
4179
ethz.identifier.wos
ethz.identifier.scopus
ethz.publication.place
PISCATAWAY
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::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02100 - Dep. Architektur / Dep. of Architecture::02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
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::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
ethz.source
WOS
ethz.rosetta.exportRequired
true
ethz.COinS
ctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.atitle=Trajectory%20Optimization%20for%20Wheeled-Legged%20Quadrupedal%20Robots%20Driving%20in%20Challenging%20Terrain&rft.jtitle=IEEE%20Robotics%20and%20Automation%20Letters&rft.date=2020-07-01&rft.volume=5&rft.issue=3&rft.spage=4172&rft.epage=4179&rft.issn=2377-3766&rft.au=Medeiros,%20Vivian%20S.&Jelavic,%20Edo&Bjelonic,%20Marko&Siegwart,%20Roland&Meggiolaro,%20Marco%20A.&rft.genre=article&rft_id=info:doi/10.1109/LRA.2020.2990720&
 Search print copy at ETH Library

Files in this item

FilesSizeFormatOpen in viewer

There are no files associated with this item.

Publication type

Show simple item record