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A Motion Planning Architecture for Conveyance Tasks with a Quadruped Robot

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Intelligent Autonomous Systems 14 (IAS 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 531))

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Abstract

This paper describes a motion planning architecture for a quadruped robot used for conveyance tasks. The architecture is designed to guarantee robot’s locomotion stability using only proprioceptive information. The robot is equipped with linear displacement sensors and pressure sensors located on the hydraulic cylinders used as actuators, a gyroscope on the main body and contact sensors on the leg tips. The robot knowledge is limited to proprioceptive sensory data and no a priori information is given about the environment. The resulting walking behaviour is validated through simulations on both flat terrain (with unknown objects along the path) and slopes. The gait is performed using a generic leg sequence and a simplified foothold planner. Initial experiments on the real platform have been carried out as well.

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Author information

Authors and Affiliations

  1. Institut de Recherche en Communications et Cybernetique de Nantes and Aldebaran, Nantes Cedex, France

    Giulio Cerruti

  2. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China

    Wei-Zhong Guo

  3. Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genoa, Genoa, Italy

    Fulvio Mastrogiovanni

Authors
  1. Giulio Cerruti
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  2. Wei-Zhong Guo
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  3. Fulvio Mastrogiovanni
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Corresponding author

Correspondence to Fulvio Mastrogiovanni .

Editor information

Editors and Affiliations

  1. Shanghai Jiao Tong University , Shanghai, China

    Weidong Chen

  2. Osaka University , Osaka, Japan

    Koh Hosoda

  3. University of Padua , Padua, Italy

    Emanuele Menegatti

  4. Osaka University , Osaka, Japan

    Masahiro Shimizu

  5. Shanghai Jiao Tong University , Shanghai, China

    Hesheng Wang

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Cerruti, G., Guo, WZ., Mastrogiovanni, F. (2017). A Motion Planning Architecture for Conveyance Tasks with a Quadruped Robot. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_26

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  • DOI: https://doi.org/10.1007/978-3-319-48036-7_26

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-48035-0

  • Online ISBN: 978-3-319-48036-7

  • eBook Packages: EngineeringEngineering (R0)

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