Abstract
This paper describes a motion planning architecture for a quadruped robot used for conveyance tasks. The architecture is designed to guarantee robot’s locomotion stability using only proprioceptive information. The robot is equipped with linear displacement sensors and pressure sensors located on the hydraulic cylinders used as actuators, a gyroscope on the main body and contact sensors on the leg tips. The robot knowledge is limited to proprioceptive sensory data and no a priori information is given about the environment. The resulting walking behaviour is validated through simulations on both flat terrain (with unknown objects along the path) and slopes. The gait is performed using a generic leg sequence and a simplified foothold planner. Initial experiments on the real platform have been carried out as well.
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Cerruti, G., Guo, WZ., Mastrogiovanni, F. (2017). A Motion Planning Architecture for Conveyance Tasks with a Quadruped Robot. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_26
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DOI: https://doi.org/10.1007/978-3-319-48036-7_26
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