Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots

Projection based whole body motion planning for legged robots

In this paper we present a new approach for dynamic motion planning for legged robots. We formulate a trajectory optimization problem based on a compact form of the robot dynamics. Such a form is obtained by projecting the rigid body dynamics onto the null space of the Constraint Jacobian. As consequence of the projection, contact forces are removed from the model but their effects are still ta...

Motion Planning for Legged Robots

Slide 0 In this talk, we present a general trajectory generation scheme for a class of " kinematic " legged robots. The method does not depend upon the number of legs, nor is it based on foot placement concepts. Instead, our method is based on an extension of a nonlinear trajectory generation algorithm for smooth systems to the legged case, where the relevant mechanics are not smooth. Our exten...

Motion Planning for Legged Robots∗

Kinematic models of legged robots are stratified, i.e. the equations of motion differ on different strata. An improved version of the motion planning algorithm proposed in the literature is compared with two alternative solutions via the example of the six-legged (hexapod) robot. The first alternative uses explicit integration of the vector fields while the second one exploits the flatness of a...

Motion Planning of Legged Robots

We study the problem of computing the free space F of a simple legged robot called the spider robot. The body of this robot is a single point and the legs are attached to the body. The robot is subject to two constraints: each leg has a maximal extension R (accessibility constraint) and the body of the robot must lie above the convex hull of its feet (stability constraint). Moreover, the robot ...

Motion Planning for Kinematic Legged Robots