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Open access
Date
2020-04Type
- Journal Article
Abstract
Sensing of the terrain shape is crucial for legged
robots deployed in the real world since the knowledge of the local
terrain inclination at the contact points allows for an optimized
force distribution that minimizes the risk of slipping. In this
paper, we present a reactive locomotion strategy for torque
controllable quadruped robots based on sensorized feet. Since
the present approach works without exteroceptive sensing, it is
robust against degraded vision. Inertial and force/torque sensors
implemented in specially designed feet with articulated passive
ankle joints measure the local terrain inclination and interaction
forces. The proposed controller exploits the contact null-space in
order to minimize the tangential forces to prevent slippage even
in case of extreme contact conditions. We experimentally tested
the proposed method in laboratory experiments and validated
the approach with the quadrupedal robot ANYmal. Show more
Permanent link
https://doi.org/10.3929/ethz-b-000392778Publication status
publishedExternal links
Journal / series
IEEE Robotics and Automation LettersVolume
Pages / Article No.
Publisher
IEEESubject
Mechanism Design; Legged Robots; Motion ControlOrganisational unit
09570 - Hutter, Marco / Hutter, Marco
Funding
780883 - subTerranean Haptic INvestiGator (EC)
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