In this paper we describe the steps that allowed us to realize real outdoor experiments of HyQ bounding at different speeds and performing omni-directional maneuvers. The strategy is composed of two parts: the first one is an offline optimization that finds a stable periodic limit cycle which represents the baseline bounding gait; the second part is a speed controller that adjusts online the main gait parameters based on the high-level speed commands coming from the external operator. In the tests HyQ reached a forward speed of 2.5m/s, lateral speed of 1m/s and angular speed of 50deg/s in simulation and respectively 1m/s, 0.5m/s and 30deg/s on the hardware experiments.
A Combined Limit Cycle-Zero Moment Point based Approach for Omni-Directional Quadrupedal Bounding / Orsolino, R; Focchi, M; Caldwell, Dg; Semini, C. - (2018), pp. 407-414. ( 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017 Porto, PT 11-13 September 2017) [10.1142/9789813231047_0050].
A Combined Limit Cycle-Zero Moment Point based Approach for Omni-Directional Quadrupedal Bounding
Focchi M;
2018-01-01
Abstract
In this paper we describe the steps that allowed us to realize real outdoor experiments of HyQ bounding at different speeds and performing omni-directional maneuvers. The strategy is composed of two parts: the first one is an offline optimization that finds a stable periodic limit cycle which represents the baseline bounding gait; the second part is a speed controller that adjusts online the main gait parameters based on the high-level speed commands coming from the external operator. In the tests HyQ reached a forward speed of 2.5m/s, lateral speed of 1m/s and angular speed of 50deg/s in simulation and respectively 1m/s, 0.5m/s and 30deg/s on the hardware experiments.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione
