Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots
Open accessAbstract
This letter presents a realtime motion planning and control method that enables a quadrupedal robot to execute dynamic gaits including trot, pace, and dynamic lateral walk, as well as gaits with full flight phases such as jumping, pronking, and running trot. The proposed method also enables smooth transitions between these gaits. Our approach relies on an online zero-moment point based motion planner which continuously updates the reference motion trajectory as a function of the contact schedule and the state of the robot. The reference footholds for each leg are obtained by solving a separate optimization problem. The resulting optimized motion plans are tracked by a hierarchical whole-body controller. Our framework has been tested in simulation and on ANYmal, a fully torque-controllable quadrupedal robot, both in simulation and on the actual robot.
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ZERO-MOMENT POINT — THIRTY FIVE YEARS OF ITS LIFE
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ANYmal - a highly mobile and dynamic quadrupedal robot
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“Over the past few years, ANYmal [8] (see Fig.”
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Learning agile and dynamic motor skills for legged robots
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Self-citationSim-to-real: Six-legged Robot Control with Deep Reinforcement Learning and Curriculum Learning
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- Authors
- Bellicoso, C. D., Jenelten, F., Gehring, C., & Hutter, M.
- Affiliations
- ETH Zurich (CH)
- Venue
- IEEE Robotics and Automation Letters
- Published
- 2018-07
- Volume
- 3
- Issue
- 3
- Pages
- 2261-2268
- ISSN
- 2377-3766 (ISSN-L)
- 2377-3774
- OpenAlex
- W2793991136
- Cited by
- 206
- References
- 21
- Citations by year
- 2026: 10 · 2025: 32 · 2024: 30 · 2023: 36 · 2022: 26 · 2021: 24 · 2020: 24 · 2019: 23 · 2018: 1
- FWCI
- 7.21
- Type
- journal article
- Language
- en
- Open access
- green
- hdl.handle.net
- Locations
- IEEE Robotics and Automation Letters (publishedVersion)
- Repository for Publications and Research Data (ETH Zurich) (submittedVersion, other-oa)
- ETH Zürich Research Collection
- Funders
- Schweizerischer Nationalfonds zur Förderung der Wissenschaftlichen Forschung
- National Centre of Competence in Research Robotics
- Topics
- Physical Sciences › Engineering › Biomedical Engineering › Robotic Locomotion and Control
- Physical Sciences › Engineering › Control and Systems Engineering › Control and Dynamics of Mobile Robots
- Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
- Keywords
- quadrupedal robots, dynamic locomotion, online motion planning, zero moment point, gait generation, gait transition, ANYmal, jumping
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