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...