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dc.contributor.authorPark, Hae won
dc.contributor.authorWensing, Patrick M.
dc.contributor.authorKim, Sangbae
dc.date.accessioned2015-06-09T14:06:04Z
dc.date.available2015-06-09T14:06:04Z
dc.date.issued2015-07
dc.identifier.issn2330-7668
dc.identifier.urihttp://hdl.handle.net/1721.1/97236
dc.description.abstractThis paper presents a new framework for the generation of high-speed running jumps to clear terrain obstacles in quadrupedal robots. Our methods enable the quadruped to autonomously jump over obstacles up to 40 cm in height within a single control framework. Specifically, we propose new control system components, layered on top of a low-level running controller, which actively modify the approach and select stance force profiles as required to clear a sensed obstacle. The approach controller enables the quadruped to end in a preferable state relative to the obstacle just before the jump. This multi-step gait planning is formulated as a multiple-horizon model predictive control problem and solved at each step through quadratic programming. Ground reaction force profiles to execute the running jump are selected through constrained nonlinear optimization on a simplified model of the robot that possesses polynomial dynamics. Exploiting the simplified structure of these dynamics, the presented method greatly accelerates the computation of otherwise costly function and constraint evaluations that are required during optimization. With these considerations, the new algorithms allow for online planning that is critical for reliable response to unexpected situations. Experimental results, for a stand-alone quadruped with on-board power and computation, show the viability of this approach, and represent important steps towards broader dynamic maneuverability in experimental machines.en_US
dc.description.sponsorshipUnited States. Defense Advanced Research Projects Agency. Maximum Mobility and Manipulation (M3) Programen_US
dc.description.sponsorshipKorean Agency for Defense Development (Contract UD1400731D)en_US
dc.language.isoen_US
dc.relation.isversionofhttp://www.roboticsproceedings.org/rss11/p47.pdfen_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceParken_US
dc.titleOnline Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupedsen_US
dc.typeArticleen_US
dc.identifier.citationPark, Hae-Won, Patrick M. Wensing, and Sangbae Kim. "Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds." 2015 Robotics: Science and Systems Conference (July 13-17, 2015), Sapienza University of Rome, pp.1-9.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.mitauthorPark, Hae wonen_US
dc.contributor.mitauthorWensing, Patrick M.en_US
dc.contributor.mitauthorKim, Sangbaeen_US
dc.relation.journalProceedings of the 2015 Robotics: Science and Systems Conference (RSS)en_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsPark, Hae-Won; Wensing, Patrick M.; Kim, Sangbaeen_US
dc.identifier.orcidhttps://orcid.org/0000-0002-0218-6801
dc.identifier.orcidhttps://orcid.org/0000-0002-9041-5175
mit.licenseOPEN_ACCESS_POLICYen_US


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