Skip to main content

2018 | OriginalPaper | Buchkapitel

Slip Detection and Recovery for Quadruped Robots

verfasst von : Michele Focchi, Victor Barasuol, Marco Frigerio, Darwin G. Caldwell, Claudio Semini

Erschienen in: Robotics Research

Verlag: Springer International Publishing

Aktivieren Sie unsere intelligente Suche um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

What should a legged robot do when it slips? When traction is lost, the locomotion can be irreversibly hampered. Being able to detect slippage at the very beginning and promptly recover the traction is crucial for body stability and can make the difference in a situation where falling is not an option. Indeed, the majority of locomotion controllers and state estimation algorithms rely on the assumption that the stance feet are not slipping. The following work presents a methodology for slip detection and estimation of the friction parameters, plus a recovery strategy which exploits the capabilities of a whole body controller, implemented for locomotion, which optimizes for the ground reaction forces (GRFs). The estimation makes use only of proprioceptive sensors (no vision). Even though the essence of the approach is quite general, the implementation is specialized for the quadruped robot HyQ. Simulation results demonstrate the effectiveness of the proposed approach while walking on challenging terrains (a slippery ramp or an ice slab).

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

Literatur
1.
Zurück zum Zitat Abe, Y., da Silva, M., Popović, J.: Multiobjective control with frictional contacts. In: ACM SIGGRAPH/Eurographics Symposium on Computer Animation, pp. 249–258 (2007) Abe, Y., da Silva, M., Popović, J.: Multiobjective control with frictional contacts. In: ACM SIGGRAPH/Eurographics Symposium on Computer Animation, pp. 249–258 (2007)
2.
Zurück zum Zitat Aly, A.a: An antilock-braking systems (ABS) control: a technical review. Intell. Control Autom. 02(03), 186–195 (2011) Aly, A.a: An antilock-braking systems (ABS) control: a technical review. Intell. Control Autom. 02(03), 186–195 (2011)
3.
Zurück zum Zitat Bloesch, M., Hutter, M., Hoepflinger, M., Leutenegger, S., Gehring, C., Remy, C.D., Siegwart, R.: State estimation for legged robots-consistent fusion of leg kinematics and IMU. In: Robotics: Science and Systems (2012) Bloesch, M., Hutter, M., Hoepflinger, M., Leutenegger, S., Gehring, C., Remy, C.D., Siegwart, R.: State estimation for legged robots-consistent fusion of leg kinematics and IMU. In: Robotics: Science and Systems (2012)
4.
Zurück zum Zitat Bretl, T., Lall, S.: Testing static equilibrium for legged robots. IEEE Trans. Robot. 24(4), 794–807 (2008)CrossRef Bretl, T., Lall, S.: Testing static equilibrium for legged robots. IEEE Trans. Robot. 24(4), 794–807 (2008)CrossRef
5.
Zurück zum Zitat Caron, S., Pham, Q.-c., Nakamura, Y.: Leveraging cone double description for multi-contact stability of humanoids with applications to statics and dynamics. In: Robotics: Science and Systems (2015) Caron, S., Pham, Q.-c., Nakamura, Y.: Leveraging cone double description for multi-contact stability of humanoids with applications to statics and dynamics. In: Robotics: Science and Systems (2015)
6.
Zurück zum Zitat Chilian, A., Hirschmüller, H., Görner, M.: Multisensor data fusion for robust pose estimation of a six-legged walking robot. In: IEEE International Conference on Intelligent Robots and Systems, pp. 2497–2504 (2011) Chilian, A., Hirschmüller, H., Görner, M.: Multisensor data fusion for robust pose estimation of a six-legged walking robot. In: IEEE International Conference on Intelligent Robots and Systems, pp. 2497–2504 (2011)
8.
Zurück zum Zitat Feng, S., Xinjilefu, X., Huang, W., Atkeson, C.G.: 3D walking based on online optimization. In: 13th IEEE-RAS International Conference on Humanoid Robots (2013) Feng, S., Xinjilefu, X., Huang, W., Atkeson, C.G.: 3D walking based on online optimization. In: 13th IEEE-RAS International Conference on Humanoid Robots (2013)
9.
Zurück zum Zitat Focchi, M., Del Prete, A., Havoutis, I., Featherstone, R., Cald-well, D. G., Semini, C.: High-slope terrain locomotion for torque-controlled quadruped robots. Autonomous Robots 41(1), 259–272. doi:10.1007/s10514-016-9573-1 (2017) Focchi, M., Del Prete, A., Havoutis, I., Featherstone, R., Cald-well, D. G., Semini, C.: High-slope terrain locomotion for torque-controlled quadruped robots. Autonomous Robots 41(1), 259–272. doi:10.​1007/​s10514-016-9573-1 (2017)
10.
Zurück zum Zitat Focchi, M., Prete, A., Havoutis, I., Featherstone, R., Caldwell, D.G., Semini, C.: Ground reaction forces control for torque-controlled quadruped robots. In: IEEE International Conference on Intelligent Robots and Systems: Workshop on Whole-Body Control for Robots in the Real World (2014) Focchi, M., Prete, A., Havoutis, I., Featherstone, R., Caldwell, D.G., Semini, C.: Ground reaction forces control for torque-controlled quadruped robots. In: IEEE International Conference on Intelligent Robots and Systems: Workshop on Whole-Body Control for Robots in the Real World (2014)
11.
Zurück zum Zitat Frigerio, M., Buchli, J., Caldwell, D.G.: Code generation of algebraic quantities for robot controllers. In: IEEE International Conference on Intelligent Robots and Systems, pp. 2346–2351, October 2012 Frigerio, M., Buchli, J., Caldwell, D.G.: Code generation of algebraic quantities for robot controllers. In: IEEE International Conference on Intelligent Robots and Systems, pp. 2346–2351, October 2012
13.
Zurück zum Zitat Haessig, D.a., Friedland, B.: On the modeling and simulation of friction. In: American Control Conference, pp. 1256–1261 (1990) Haessig, D.a., Friedland, B.: On the modeling and simulation of friction. In: American Control Conference, pp. 1256–1261 (1990)
14.
Zurück zum Zitat Herzog, A., Righetti, L., Grimminger, F., Pastor, P., Schaal, S.: Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 981–988. IEEE (2014) Herzog, A., Righetti, L., Grimminger, F., Pastor, P., Schaal, S.: Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 981–988. IEEE (2014)
15.
Zurück zum Zitat Holweg, E., Hoeve, H., Jongkind, W., Marconi, L., Melchiorri, C., Bonivento, C.: Slip detection by tactile sensors: algorithms and experimental results. In: IEEE International Conference on Robotics and Automation, vol. 09, 3234–3239 (1996) Holweg, E., Hoeve, H., Jongkind, W., Marconi, L., Melchiorri, C., Bonivento, C.: Slip detection by tactile sensors: algorithms and experimental results. In: IEEE International Conference on Robotics and Automation, vol. 09, 3234–3239 (1996)
16.
Zurück zum Zitat Izumi, I., Nakamura, T., Sack, R.L.: In: Snow Engineering: Recent Advances: Proceedings of the Third International Conference, Sendai, Japan, 26–31 May 1996. CRC Press (1997) Izumi, I., Nakamura, T., Sack, R.L.: In: Snow Engineering: Recent Advances: Proceedings of the Third International Conference, Sendai, Japan, 26–31 May 1996. CRC Press (1997)
17.
Zurück zum Zitat Klasing, K., Althoff, D., Wollherr, D., Buss, M.: Comparison of surface normal estimation methods for range sensing applications. In: IEEE International Conference on Robotics and Automation, pp. 3206–3211 (2009) Klasing, K., Althoff, D., Wollherr, D., Buss, M.: Comparison of surface normal estimation methods for range sensing applications. In: IEEE International Conference on Robotics and Automation, pp. 3206–3211 (2009)
18.
Zurück zum Zitat Kuindersma, S., Permenter, F., Tedrake, R., Bu, A.: An efficiently solvable quadratic program for stabilizing dynamic locomotion. In: IEEE International Conference on Robotics and Automation, pp. 2589–2594 (2014) Kuindersma, S., Permenter, F., Tedrake, R., Bu, A.: An efficiently solvable quadratic program for stabilizing dynamic locomotion. In: IEEE International Conference on Robotics and Automation, pp. 2589–2594 (2014)
19.
Zurück zum Zitat Lide, D.R.: CRC Handbook of Chemistry and Physics, vol. 53, 94th edn. CRC Press, Boca Raton (2013) Lide, D.R.: CRC Handbook of Chemistry and Physics, vol. 53, 94th edn. CRC Press, Boca Raton (2013)
20.
Zurück zum Zitat Melchiorri, C.: Slip detection and control using tactile and force sensors. IEEE/ASME Trans. Mechatronics 5(3), 235–243 (2000)CrossRef Melchiorri, C.: Slip detection and control using tactile and force sensors. IEEE/ASME Trans. Mechatronics 5(3), 235–243 (2000)CrossRef
21.
Zurück zum Zitat Palli, G., Moriello, L., Scarcia, U., Melchiorri, C.: Development of an optoelectronic 6-axis force/torque sensor for robotic applications. Sensors Actuators A Phys. 220, 333–346 (2014)CrossRef Palli, G., Moriello, L., Scarcia, U., Melchiorri, C.: Development of an optoelectronic 6-axis force/torque sensor for robotic applications. Sensors Actuators A Phys. 220, 333–346 (2014)CrossRef
22.
Zurück zum Zitat Rusu, R.B.: Semantic 3d object maps for everyday manipulation in human living environments. PhDThesis 24(4), 345–348 (2010) Rusu, R.B.: Semantic 3d object maps for everyday manipulation in human living environments. PhDThesis 24(4), 345–348 (2010)
24.
Zurück zum Zitat Semini, C., Tsagarakis, N.G., Guglielmino, E., Focchi, M., Cannella, F., Caldwell, D.G.: Design of HyQ - a hydraulically and electrically actuated quadruped robot. Proc. Instit. Mech. Eng. Part I J. Syst. Control Eng. 225(6), 831–849 (2011)CrossRef Semini, C., Tsagarakis, N.G., Guglielmino, E., Focchi, M., Cannella, F., Caldwell, D.G.: Design of HyQ - a hydraulically and electrically actuated quadruped robot. Proc. Instit. Mech. Eng. Part I J. Syst. Control Eng. 225(6), 831–849 (2011)CrossRef
25.
Zurück zum Zitat Stewart, D., Trinkle, J.: An implicit time-stepping scheme for rigid body dynamics with Coulomb friction. In: IEEE International Conference on Robotics and Automation, vol. 1 (2000) Stewart, D., Trinkle, J.: An implicit time-stepping scheme for rigid body dynamics with Coulomb friction. In: IEEE International Conference on Robotics and Automation, vol. 1 (2000)
26.
Zurück zum Zitat Takemura, H., Deguchi, M., Ueda, J., Matsumoto, Y., Ogasawara, T.: Slip-adaptive walk of quadruped robot. Robot. Auton. Syst. 53(2), 124–141 (2005)CrossRef Takemura, H., Deguchi, M., Ueda, J., Matsumoto, Y., Ogasawara, T.: Slip-adaptive walk of quadruped robot. Robot. Auton. Syst. 53(2), 124–141 (2005)CrossRef
27.
Zurück zum Zitat Vukobratović, M., Frank, A.A., Juricić, D.: On the stability of biped locomotion. IEEE Trans. Bio-Med. Eng. 17(1), 25–36 (1970)CrossRef Vukobratović, M., Frank, A.A., Juricić, D.: On the stability of biped locomotion. IEEE Trans. Bio-Med. Eng. 17(1), 25–36 (1970)CrossRef
Metadaten
Titel
Slip Detection and Recovery for Quadruped Robots
verfasst von
Michele Focchi
Victor Barasuol
Marco Frigerio
Darwin G. Caldwell
Claudio Semini
Copyright-Jahr
2018
DOI
https://doi.org/10.1007/978-3-319-60916-4_11

Neuer Inhalt