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Computer Science > Robotics

arXiv:2012.06156 (cs)
[Submitted on 11 Dec 2020]

Title:Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots

Authors:Hua Chen, Bingheng Wang, Zejun Hong, Cong Shen, Patrick M. Wensing, Wei Zhang
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Abstract:This paper studies jumping for wheeled-bipedal robots, a motion that takes full advantage of the benefits from the hybrid wheeled and legged design features. A comprehensive hierarchical scheme for motion planning and control of jumping with wheeled-bipedal robots is developed. Underactuation of the wheeled-bipedal dynamics is the main difficulty to be addressed, especially in the planning problem. To tackle this issue, a novel wheeled-spring-loaded inverted pendulum (W-SLIP) model is proposed to characterize the essential dynamics of wheeled-bipedal robots during jumping. Relying on a differential-flatness-like property of the W-SLIP model, a tractable quadratic programming based solution is devised for planning jumping motions for wheeled-bipedal robots. Combined with a kinematic planning scheme accounting for the flight phase motion, a complete planning scheme for the W-SLIP model is developed. To enable accurate tracking of the planned trajectories, a linear quadratic regulator based wheel controller and a task-space whole-body controller for the other joints are blended through disturbance observers. The overall planning and control scheme is validated using V-REP simulations of a prototype wheeled-bipedal robot.
Comments: Supplementary video available at: this https URL
Subjects: Robotics (cs.RO)
Cite as: arXiv:2012.06156 [cs.RO]
  (or arXiv:2012.06156v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2012.06156

Submission history

From: Hua Chen [view email]
[v1] Fri, 11 Dec 2020 06:34:34 UTC (16,811 KB)
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