Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping
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2111.13648v1.pdf
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3.78 MB
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Author(s)
Chignoli, Matthew
Morozov, Savva
Kim, Sangbae
Date Issued
May 23, 2022
Journal
2022 International Conference on Robotics and Automation (ICRA)
Publisher
IEEE
Citation
M. Chignoli, S. Morozov and S. Kim, "Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping," 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, 2022, pp. 6621-6627.
Version
Author's final manuscript
Abstract
Dynamic jumping with legged robots poses a challenging problem in planning and control. Formulating the jump optimization to allow fast online execution is difficult; efficiently using this capability to generate long-horizon motion plans further complicates the problem. In this work, we present a hierarchical planning framework to address this problem. We first formulate a real-time tractable trajectory optimization for performing omnidirectional jumping. We then embed the results of this optimization into a low dimensional jump feasibility classifier. This classifier is leveraged to produce geometric motion plans that select dynamically feasible jumps while mitigating the effects of the process noise. We deploy our framework on the Mini Cheetah Vision quadruped, demonstrating the robot's ability to generate and execute reliable, goal-oriented plans that involve forward, lateral, and rotational jumps onto surfaces as tall as the robot's nominal hip height. The ability to plan through omnidirectional jumping greatly expands the robot's mobility relative to planners that restrict jumping to the sagittal or frontal planes.
Description
2022 IEEE International Conference on Robotics and Automation (ICRA) May 23-27, 2022. Philadelphia, PA, USA
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/icra46639.2022.9812088
