Feasible Wrench Set Computation for Legged Robots

During locomotion, legged robots interact with the ground by sequentially establishing and breaking contact. The interaction wrenches that arise from contact are used to steer robot’s Center of Mass (CoM) reject perturbations make system deviate desired trajectory often them fall. feasibility a given control target (desired CoM wrench or acceleration) is conditioned point distribution, friction, actuation limits. In this work, we develop method compute set feasible robot can exert on its through presented be any amount non-co-planar contacts takes into account limits limitations based an inelastic model Coulomb friction. This exemplified planar biped standing feet at different heights. Exploiting assumptions model, explain how when remain in position as well ones some broken. Therefore, assess whether switch configuration while achieving task. Furthermore, identify directions which not actuated (i.e. cannot exerted those directions). We show having joint passive change non-actuated pose using spatial lower-extremity exoskeleton. also useful tool for design phase system. work presents systems extends current state art.