English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This paper studies capturability and push recovery for quadrupedallocomotion. Despite the rich literature on capturability analysis and pushrecovery control for legged robots, existing tools are developed mainly forbipeds or humanoids. Distinct quadrupedal features such as point contacts andmultiple swinging legs prevent direct application of these methods. To addressthis gap, we propose a switched systems model for quadruped dynamics, andinstantiate the abstract viability concept for quadrupedal locomotion with atime-based gait. Capturability is characterized through a novel specificationof dynamically balanced states that addresses the time-varying nature ofquadrupedal locomotion and balance. A linear inverted pendulum (LIP) model isadopted to demonstrate the theory and show how the newly developed quadrupedalcapturability can be used in motion planning for quadrupedal push recovery. Weformulate and solve an explicit model predictive control (EMPC) problem whoseoptimal solution fully characterizes quadrupedal capturability with the LIP.Given this analysis, an optimization-based planning scheme is devised fordetermining footsteps and center of mass references during push recovery. Tovalidate the effectiveness of the overall framework, we conduct numeroussimulation and hardware experiments. Simulation results illustrate thenecessity of considering dynamic balance for quadrupedal capturability, and thesignificant improvement in disturbance rejection with the proposed strategy.Experimental validations on a replica of the Mini Cheetah quadruped demonstratean up to 100% improvement as compared with state-of-the-art.

Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance