The DOI matches its Crossref record; 31 of the 31 references it cites were found in a registry or an index.
Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization
Open accessAbstract
We present a single trajectory optimization formulation for legged locomotion that automatically determines the gait sequence, step timings, footholds, swing-leg motions, and six-dimensional body motion over nonflat terrain, without any additional modules. Our phase-based parameterization of feet motion and forces allows to optimize over the discrete gait sequence using only continuous decision variables. The system is represented using a simplified centroidal dynamics model that is influenced by the feet's location and forces. We explicitly enforce friction cone constraints, depending on the shape of the terrain. The nonlinear programming problem solver generates highly dynamic motion plans with full flight phases for a variety of legged systems with arbitrary morphologies in an efficient manner. We validate the feasibility of the generated plans in simulation and on the real quadruped robot ANYmal. Additionally, the entire solver software TOWR, which used to generate these motions is made freely available.
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Cites
Wächter, A., & Biegler, L. T. (2006) · Mathematical Programming · doi:10.1007/s10107-004-0559-y · Cited by 9,483
Survey of Numerical Methods for Trajectory Optimization
Betts, J. T. (1998) · Journal of Guidance, Control, and Dynamics · doi:10.2514/2.4231 · Cited by 2,602
Biped walking pattern generation by using preview control of zero-moment point
Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., & Hirukawa, H. (2004) · 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) · doi:10.1109/robot.2003.1241826 · Cited by 2,104
ZERO-MOMENT POINT — THIRTY FIVE YEARS OF ITS LIFE
VUKOBRATOVIĆ, M., & BOROVAC, B. (2004) · International Journal of Humanoid Robotics · doi:10.1142/s0219843604000083 · Cited by 2,038
ANYmal - a highly mobile and dynamic quadrupedal robot
Hutter, M., Gehring, C., Jud, D., Lauber, A., Bellicoso, C. D., Tsounis, V., Hwangbo, J., Bodie, K., Fankhauser, P., Bloesch, M., et al. (2016) · 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2016.7758092 · Cited by 969 · cited 3×
“Secondly, we demonstrate a subset of motions in the realistic physics simulator Gazebo as well as on the quadruped robot ANYmal [34].”
BackgroundMethodSelf-citationA direct method for trajectory optimization of rigid bodies through contact
Posa, M., Cantu, C., & Tedrake, R. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364913506757 · Cited by 597
Centroidal dynamics of a humanoid robot
Orin, D. E., Goswami, A., & Lee, S. (2013) · Autonomous Robots · doi:10.1007/s10514-013-9341-4 · Cited by 480
Discovery of complex behaviors through contact-invariant optimization
Mordatch, I., Todorov, E., & Popović, Z. (2012) · ACM Transactions on Graphics · doi:10.1145/2185520.2185539 · Cited by 451
Whole-body motion planning with centroidal dynamics and full kinematics
Dai, H., Valenzuela, A., & Tedrake, R. (2014) · 2014 IEEE-RAS International Conference on Humanoid Robots · doi:10.1109/humanoids.2014.7041375 · Cited by 423
Fast Direct Multiple Shooting Algorithms for Optimal Robot Control
Diehl, M., Bock, H. G., Diedam, H., & Wieber, P.-B. (2007) · Lecture Notes in Control and Information Sciences · doi:10.1007/978-3-540-36119-0_4 · Cited by 344
Cited by
Focchi, M., Orsolino, R., Camurri, M., Barasuol, V., Mastalli, C., Caldwell, D. G., & Semini, C. (2020) · Springer Tracts in Advanced Robotics · doi:10.1007/978-3-030-22327-4_9 · Cited by 28
Hierarchical generative modelling for autonomous robots
Yuan, K., Sajid, N., Friston, K., & Li, Z. (2023) · Nature Machine Intelligence · doi:10.1038/s42256-023-00752-z · Cited by 23
Metadata
- Authors
- Winkler, A. W., Bellicoso, C. D., Hutter, M., & Buchli, J.
- Venue
- IEEE Robotics and Automation Letters
- Published
- 2018-07
- Volume
- 3
- Issue
- 3
- Pages
- 1560-1567
- ISSN
- 2377-3766 (ISSN-L)
- 2377-3774
- OpenAlex
- W2788030459
- Cited by
- 451
- References
- 31
- FWCI
- 16.61
- Type
- journal article
- Language
- en
- Open access
- green
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- Winkler, A. W., Bellicoso, C. D., Hutter, M., & Buchli, J. (2018). Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization. IEEE Robotics and Automation Letters. https://doi.org/10.1109/lra.2018.2798285
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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