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Modeling and Control of Legged Robots

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Abstract

The promise of legged robots over wheeled robots is to provide improved mobility over rough terrain. Unfortunately, this promise comes at the cost of a significant increase in complexity. We now have a good understanding of how to make legged robots walk and run dynamically, but further research is still necessary to make them walk and run efficiently in terms of energy, speed, reactivity, versatility, and robustness. In this chapter, we will discuss how legged robots are usually modeled, how their stability analysis is approached, how dynamic motions are generated and controlled, and finally summarize the current trends in trying to improve their performance. The main problem is avoiding to fall. This can prove difficult since legged robots have to rely entirely on available contact forces to do so. The temporality of leg motions appears to be a key aspect in this respect, as current control solutions include continuous anticipation of future motion (using some form of model predictive control), or focusing more specifically on limit cycles and orbital stability.

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Abbreviations

2-D:

two-dimensional

3-D:

three-dimensional

CMU:

Carnegie Mellon University

COM:

center of mass

COP:

center of pressure

CP:

capture point

CPG:

central pattern generator

DLR:

Deutsches Zentrum für Luft- und Raumfahrt

FRI:

foot rotation indicator

KAIST:

Korea Advanced Institute of Science and Technology

LCP:

linear complementarity problem

LP:

linear program

LQR:

linear quadratic regulator

MIT:

Massachusetts Institute of Technology

MPC:

model predictive control

ODE:

ordinary differential equation

ODI:

ordinary differential inclusion

PD:

proportional–derivative

QP:

quadratic programming

XCOM:

extrapolated center of mass

ZMP:

zero moment point

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Authors and Affiliations

  1. INRIA Grenoble Rhône-Alpes, 655 Avenue de l’Europe, 38334, Grenoble, France

    Pierre-Brice Wieber

  2. Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, The Stata Center, Vassar Street, MA 02139, Cambridge, USA

    Russ Tedrake

  3. Harvard University, Maxwell-Dworkin 151, 33 Oxford Street, MA 02138, Cambridge, USA

    Scott Kuindersma

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  1. Pierre-Brice Wieber
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Correspondence to Pierre-Brice Wieber .

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  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

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Wieber, PB., Tedrake, R., Kuindersma, S. (2016). Modeling and Control of Legged Robots. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_48

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