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dc.contributor.author
Kang, Dongho
dc.contributor.author
De Vincenti, Flavio
dc.contributor.author
Adam, Naomi C.
dc.contributor.author
Coros, Stelian
dc.date.accessioned
2023-09-11T08:47:52Z
dc.date.available
2023-01-03T09:41:30Z
dc.date.available
2023-01-11T15:10:50Z
dc.date.available
2023-09-08T11:28:51Z
dc.date.available
2023-09-11T08:47:52Z
dc.date.issued
2022
dc.identifier.isbn
978-1-6654-7927-1
en_US
dc.identifier.isbn
978-1-6654-7928-8
en_US
dc.identifier.other
10.1109/iros47612.2022.9981945
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/589749
dc.identifier.doi
10.3929/ethz-b-000589749
dc.description.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.
en_US
dc.format
application/pdf
en_US
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 locomotion
en_US
dc.subject
Target tracking
en_US
dc.subject
Animals
en_US
dc.subject
Motion capture
en_US
dc.subject
Hardware
en_US
dc.subject
Trajectory
en_US
dc.subject
Quadrupedal robots
en_US
dc.title
Animal Motions on Legged Robots Using Nonlinear Model Predictive Control
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
dc.date.published
2022-12-26
ethz.book.title
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
en_US
ethz.pages.start
11955
en_US
ethz.pages.end
11962
en_US
ethz.version.deposit
acceptedVersion
en_US
ethz.event
35th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)
en_US
ethz.event.location
Kyoto, Japan
en_US
ethz.event.date
October 23-27, 2022
en_US
ethz.grant
Computational Models of Motion for Fabrication-aware design of Bioinspired Systems
en_US
ethz.identifier.wos
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::02150 - Dep. Informatik / Dep. of Computer Science::02658 - Inst. Intelligente interaktive Systeme / Inst. Intelligent Interactive Systems::09620 - Coros, Stelian / Coros, Stelian
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02150 - Dep. Informatik / Dep. of Computer Science::02658 - Inst. Intelligente interaktive Systeme / Inst. Intelligent Interactive Systems::09620 - Coros, Stelian / Coros, Stelian
en_US
ethz.grant.agreementno
866480
ethz.grant.agreementno
866480
ethz.grant.agreementno
866480
ethz.grant.fundername
EC
ethz.grant.fundername
EC
ethz.grant.fundername
EC
ethz.grant.funderDoi
10.13039/501100000780
ethz.grant.funderDoi
10.13039/501100000780
ethz.grant.funderDoi
10.13039/501100000780
ethz.grant.program
H2020
ethz.grant.program
H2020
ethz.grant.program
H2020
ethz.date.deposited
2023-01-03T09:41:30Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2023-01-11T15:10:51Z
ethz.rosetta.lastUpdated
2024-02-03T03:25:46Z
ethz.rosetta.versionExported
true
ethz.COinS
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