Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping
2022 IEEE International Conference on Robotics and Automation (ICRA) May 23-27, 2022. Philadelphia, PA, USA
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2024
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| Online Access: | https://hdl.handle.net/1721.1/153615 |
| _version_ | 1811072306698518528 |
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| author | Chignoli, Matthew Morozov, Savva Kim, Sangbae |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Chignoli, Matthew Morozov, Savva Kim, Sangbae |
| author_sort | Chignoli, Matthew |
| collection | MIT |
| description | 2022 IEEE International Conference on Robotics and Automation (ICRA) May 23-27, 2022. Philadelphia, PA, USA |
| first_indexed | 2024-09-23T09:03:53Z |
| format | Article |
| id | mit-1721.1/153615 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T09:03:53Z |
| publishDate | 2024 |
| publisher | IEEE |
| record_format | dspace |
| spelling | mit-1721.1/1536152024-09-19T15:21:15Z Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping Chignoli, Matthew Morozov, Savva Kim, Sangbae Massachusetts Institute of Technology. Department of Mechanical Engineering Massachusetts Institute of Technology. Department of Aeronautics and Astronautics 2022 IEEE International Conference on Robotics and Automation (ICRA) May 23-27, 2022. Philadelphia, PA, USA Dynamic jumping with legged robots poses a challenging problem in planning and control. Formulating the jump optimization to allow fast online execution is difficult; efficiently using this capability to generate long-horizon motion plans further complicates the problem. In this work, we present a hierarchical planning framework to address this problem. We first formulate a real-time tractable trajectory optimization for performing omnidirectional jumping. We then embed the results of this optimization into a low dimensional jump feasibility classifier. This classifier is leveraged to produce geometric motion plans that select dynamically feasible jumps while mitigating the effects of the process noise. We deploy our framework on the Mini Cheetah Vision quadruped, demonstrating the robot's ability to generate and execute reliable, goal-oriented plans that involve forward, lateral, and rotational jumps onto surfaces as tall as the robot's nominal hip height. The ability to plan through omnidirectional jumping greatly expands the robot's mobility relative to planners that restrict jumping to the sagittal or frontal planes. 2024-02-29T17:38:35Z 2024-02-29T17:38:35Z 2022-05-23 2024-02-29T17:26:35Z Article http://purl.org/eprint/type/JournalArticle https://hdl.handle.net/1721.1/153615 M. Chignoli, S. Morozov and S. Kim, "Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping," 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, 2022, pp. 6621-6627. en 10.1109/icra46639.2022.9812088 2022 International Conference on Robotics and Automation (ICRA) Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf IEEE arxiv |
| spellingShingle | Chignoli, Matthew Morozov, Savva Kim, Sangbae Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping |
| title | Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping |
| title_full | Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping |
| title_fullStr | Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping |
| title_full_unstemmed | Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping |
| title_short | Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping |
| title_sort | rapid and reliable quadruped motion planning with omnidirectional jumping |
| url | https://hdl.handle.net/1721.1/153615 |
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