Open access
Date
2022Type
- Conference Paper
ETH Bibliography
yes
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Abstract
This work presents a motion capture-driven locomotion controller for quadrupedal robots that replicates the non-periodic footsteps and subtle body movement of animal motions. We adopt a nonlinear model predictive control (NMPC) formulation that generates optimal base trajectories and stepping locations. By optimizing both footholds and base trajectories, our controller effectively tracks retargeted animal motions with natural body movements and highly irregular strides. We demonstrate our approach with prerecorded animal motion capture data. In simulation and hardware experiments, our motion controller enables quadrupedal robots to robustly reproduce fundamental characteristics of a target animal motion regardless of the significant morphological disparity. Show more
Permanent link
https://doi.org/10.3929/ethz-b-000589749Publication status
publishedExternal links
Book title
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Pages / Article No.
Publisher
IEEEEvent
Subject
Legged locomotion; Target tracking; Animals; Motion capture; Hardware; Trajectory; Quadrupedal robotsOrganisational unit
09620 - Coros, Stelian / Coros, Stelian
Funding
866480 - Computational Models of Motion for Fabrication-aware design of Bioinspired Systems (EC)
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ETH Bibliography
yes
Altmetrics