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Vertical Jumping for Legged Robot Based on Quadratic Programming.

Dingkui Tian1,2, Junyao Gao1,2, Xuanyang Shi1,2

  • 1School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing 100081, China.

Sensors (Basel, Switzerland)
|June 2, 2021
PubMed
Summary
This summary is machine-generated.

This study presents a new control strategy for legged robots to achieve cyclic vertical jumping. The hierarchical quadratic programming (HQP) approach effectively prioritizes the center of mass (CoM) and controls robot posture during flight.

Keywords:
full dynamichierarchical quadratic programmingquadratic programmingvertical jumping

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Area of Science:

  • Robotics
  • Control Systems
  • Biomechanics

Background:

  • Legged robots face challenges in controlling dynamic jumping motions.
  • Existing control schemes struggle with over-constrained objectives in the stance phase and underactuation in the flight phase.

Purpose of the Study:

  • To introduce a novel control framework for cyclic vertical jumping in planar legged robots.
  • To address limitations in controlling both stance and flight phases of legged locomotion.

Main Methods:

  • Formulation of the jumping problem within a quadratic-programming (QP) framework.
  • Implementation of a hierarchical quadratic programming (HQP) control strategy for strict task prioritization.
  • Incorporation of split dynamic equations to manage robot posture during the flight phase.

Main Results:

  • The HQP controller successfully prioritized the center of mass (CoM) during the stance phase.
  • The flight phase controller was validated in simulations, restricting robot posture.
  • Maximum CoM errors in x and y directions were 0.47 cm and 0.82 cm, respectively.

Conclusions:

  • The proposed QP-based framework with HQP control enables robust cyclic vertical jumping for legged robots.
  • The integrated approach effectively manages coupled dynamics in the stance phase and underactuation in the flight phase.
  • This method offers a promising solution for advanced legged robot locomotion control.