Locomotion Adaptation in Heavy Payload Transportation Tasks with the Quadruped Robot CENTAURO
Xinyuan Zhao,Yangwei You,Arturo Laurenzi,Navvab Kashiri,Nikos Tsagarakis,Xinyuan Zhao,Yangwei You,Arturo Laurenzi,Navvab Kashiri,Nikos Tsagarakis
This paper presents a reactive legged locomotion generation scheme that enables our quadruped robot CEN-TAURO to adapt to varying payloads while walking. The center-of-mass (CoM) trajectories are generated in real time in a model predictive control (MPC) fashion, trading off large stability margins against evenly stretched legs. Vertex-based zero-moment-point (ZMP) constraints are imposed to ensur...
