Unilateral Ground Contact Force Regulations in Thruster-Assisted Legged Locomotion

Autor:	Sihite, Eric, Dangol, Pravin, Ramezani, Alireza
Rok vydání:	2021
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	In this paper, we study the regulation of the Ground Contact Forces (GRF) in thruster-assisted legged locomotion. We will employ Reference Governors (RGs) for enforcing GRF constraints in Harpy model which is a bipedal robot that is being developed at Northeastern University. Optimization-based methods and whole body control are widely used for enforcing the no-slip constraints in legged locomotion which can be very computationally expensive. In contrast, RGs can enforce these constraints by manipulating joint reference trajectories using Lyapunov stability arguments which can be computed much faster. The addition of the thrusters in our model allows to manipulate the gait parameters and the GRF without sacrificing the locomotion stability. Comment: 7 pages, 10 figures, accepted in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 2021
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2105.12082 Zobrazit plný text záznamu View this record from Arxiv