CaltechAUTHORS
  A Caltech Library Service

From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation

Ma, Wen-Loong and Ames, Aaron D. (2020) From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation. In: 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 4491-4497. ISBN 978-1-7281-7395-5. https://resolver.caltech.edu/CaltechAUTHORS:20191115-153429777

[img] PDF - Submitted Version
See Usage Policy.

10Mb

Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20191115-153429777

Abstract

This paper systematically decomposes a quadrupedal robot into bipeds to rapidly generate walking gaits and then recomposes these gaits to obtain quadrupedal locomotion. We begin by decomposing the full-order, nonlinear and hybrid dynamics of a three-dimensional quadrupedal robot, including its continuous and discrete dynamics, into two bipedal systems that are subject to external forces. Using the hybrid zero dynamics (HZD) framework, gaits for these bipedal robots can be rapidly generated (on the order of seconds) along with corresponding controllers. The decomposition is achieved in such a way that the bipedal walking gaits and controllers can be composed to yield dynamic walking gaits for the original quadrupedal robot — the result is the rapid generation of dynamic quadruped gaits utilizing the full-order dynamics. This methodology is demonstrated through the rapid generation (3.96 seconds on average) of four stepping-in-place gaits and one diagonally symmetric ambling gait at 0.35 m/s on a quadrupedal robot — the Vision 60, with 36 state variables and 12 control inputs — both in simulation and through outdoor experiments. This suggested a new approach for fast quadrupedal trajectory planning using full-body dynamics, without the need for empirical model simplification, wherein methods from dynamic bipedal walking can be directly applied to quadrupeds.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA40945.2020.9196841DOIArticle
https://arxiv.org/abs/1909.08560arXivDiscussion Paper
ORCID:
AuthorORCID
Ma, Wen-Loong0000-0002-0115-5632
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2020 IEEE. This work is supported by NSF grants 1724464, 1544332 and 1724457.
Funders:
Funding AgencyGrant Number
NSFIIS-1724464
NSFCNS-1544332
NSFCNS-1724457
Record Number:CaltechAUTHORS:20191115-153429777
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20191115-153429777
Official Citation:W. -L. Ma and A. D. Ames, "From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation," 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020, pp. 4491-4497, doi: 10.1109/ICRA40945.2020.9196841
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:99873
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:16 Nov 2019 00:24
Last Modified:22 Sep 2020 17:57

Repository Staff Only: item control page