Terrain-Adaptive Planning and Control of Complex Motions for Walking Excavators
- Conference Paper
Rights / licenseIn Copyright - Non-Commercial Use Permitted
This article presents a planning and control pipeline for legged-wheeled (hybrid) machines. It consists of a Trajectory Optimization based planner that computes references for end-effectors and joints. The references are tracked using a whole-body controller based on a hierarchical optimization approach. Our controller is capable of performing terrain adaptive whole-body control. Furthermore, it computes both torque and position/velocity references, depending on the actuator capabilities. We perform experiments on a Menzi Muck M545, a full size 31 Degrees of Freedom (DoF) walking excavator with five limbs: four wheeled legs and an arm. We show motions that require full-body coordination executed in realistic conditions. To the best of our knowledge, this is the first work that shows the execution of whole-body motions on a full size walking excavator, using all DoFs for locomotion. Show more
Book title2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages / Article No.
Organisational unit09570 - Hutter, Marco / Hutter, Marco
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
182132 - History of Vernacular mathematics in medieval South India (Malayalam and Tamil, 9th-16th centuries) (SNF)
852044 - Learning Mobility for Real Legged Robots (EC)
NotesConference lecture held on October 26, 2020. Due to the Coronavirus (COVID-19) the conference was conducted virtually.
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