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Motion generation of four-limb robots using whole-body torque control

Abstract : The thesis presents the whole-body motion generation of two four-limb robots, including the rolling-mode generation of a quadruped-on-wheel robot, TowrISIR, and the trotting-mode generation of a quadruped robot with parallelogram mechanisms, QuadISIR. Both the wheeled and legged motion generators are developed by using the generalized dynamics and centroidal dynamics models, and they are verified by our improved proposed torque controllers. We propose the concept called prioritized impedance controller, and we propose one new dynamics model to embody multi-task control hierarchy. We integrate it into the new dynamics model to improve four kinds of hierarchical operational-space torque control frameworks. Then, we propose two rolling-mode motion generators of TowrISIR. By given legged-suspension motion, the wheel motion is extracted out depending on base and legged motions, then the first wheel motion generator is developed by combining the kinematics model and centroidal momentum/dynamics model. The second whole-body motion generator is more general which enables the robot to cross rough terrains with much-altitude difference. Then the whole-body motion generator is developed by combining further the wheel-center motion model and a proposed altitude control model. Finally, we propose a new legged locomotion principle for one quadruped robot, QuadISIR, which can generate legged motion automatically using the centroidal properties without massless-leg assumption. The virtual joint between the base and each-leg CoM is used. The stance legs follow the base motion without conflicting the contact constraints. The swing legs compensate the delay influences by the stance legs.
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Submitted on : Wednesday, April 7, 2021 - 9:17:33 AM
Last modification on : Friday, April 9, 2021 - 3:32:06 AM


Version validated by the jury (STAR)


  • HAL Id : tel-03191313, version 1


Wenqian Du. Motion generation of four-limb robots using whole-body torque control. Robotics [cs.RO]. Sorbonne Université, 2020. English. ⟨NNT : 2020SORUS067⟩. ⟨tel-03191313⟩



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