《机器人资料_质心控制》.pdfVIP

Inverse Kinematics for a Point-Foot Quadruped Robot with Dynamic Redundancy Resolution Alexander Shkolnik and Russ Tedrake Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology, Cambridge, MA 02139 {shkolnik,russt}@mit.edu Abstract— In this work we examine the control of center tering for redundancy resolution with a whole-body Jacobian of mass and swing leg trajectories in LittleDog, a point-foot seems to compound the problem, as it utilizes all limbs to quadruped robot. It is not clear how to formulate a function execute any motion producing more joint movement than to compute forward kinematics of the center of mass of the robot as a function of actuated joint angles because point-foot necessary. In simulation, this caused the robot to fall over walkers have no direct actuation between the feet and the ground. fairly easily when executing fast movements. Projecting the Nevertheless, we show that a whole-body Jacobian exists and is single-leg inverse kinematic solution into the nullspace of the well defined when at least three of the feet are on the ground. whole-body Jacobian produces a solution which improves the Also, the typical approach of work-space centering for redun- dynamic stability of the system. We refer to this approach as dancy resolution causes destabilizing motions when executing fast motions. An alternative redundancy resolution optimization is dynamic redundancy resolution. This hybrid approach seems proposed which projects single-leg inverse kinematic solutions to m