Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion

Conference paper (2021)

Authors

I. Belli Politecnico di Milano
Parigi Polverini Istituto Italiano di Tecnologia
A. Laurenzi Istituto Italiano di Tecnologia
E. Mingo Hoffman Istituto Italiano di Tecnologia
P. Rocco Politecnico di Milano
N.G. Tsagarakis Istituto Italiano di Tecnologia
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Published Date

2021

Language

English

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Abstract

This paper presents a trajectory optimization approach to the motion generation problem of hybrid locomotion strategies for a wheeled-legged quadrupedal robot with steerable wheels. To this end, traditional Single Rigid Body Dynamics has been employed and extended by adding a unicycle model for each leg, conveniently incorporating the nonholonomic rolling constraints. The proposed approach can generate hybrid locomotion strategies as well as pure driving and legged locomotion with minimum effort for the user. The effectiveness of the proposed approach has been experimentally validated on the humanoid quadruped CENTAURO, employing a hierarchical inverse kinematics engine to track the planned motions.