DRS-LIP: Linear Inverted Pendulum Model for Legged Locomotion on Dynamic Rigid Surfaces
DRS-LIP: Linear Inverted Pendulum Model for Legged Locomotion on Dynamic Rigid Surfaces
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DRS-LIP：动态刚性表面上腿式运动的线性倒立摆模型
DOI：
10.36227/techrxiv.19074329.v1
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Yan Gu
中科院分区：
文献类型：
--
作者：
A. Iqbal;Sushant Veer;Yan Gu
腿式机器人在动态刚性表面上的运动
Legged robot locomotion on a dynamic rigid surface (i.e., a
rigid surface moving in the inertial frame) involves
complex full-order dynamics that is high-dimensional,
nonlinear, and time-varying. Towards deriving an
analytically tractable dynamic model, this study
theoretically extends the reduced-order linear inverted
pendulum (LIP) model from legged locomotion on a stationary
surface to locomotion on a dynamic rigid surface (DRS). The
resulting model is herein termed as DRS-LIP. Furthermore,
this study introduces an approximate analytical solution of
the proposed DRS-LIP that is computationally efficient with
high accuracy. To illustrate the practical uses of the
analytical results, they are used to develop a hierarchical
planning framework that efficiently generates physically
feasible trajectories for DRS locomotion.
The effectiveness of the proposed theoretical results and
motion planner is demonstrated both through simulations and
experimentally on a Laikago quadrupedal robot that walks on
a rocking treadmill.
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DOI：
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发表时间：
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期刊：
Dynamic Walking
影响因子：
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DOI：
10.1109/icra48506.2021.9561961
发表时间：
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期刊：
IEEE International Conference on Robotics and Automation (ICRA 2021
影响因子：
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影响因子：
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