Distributed Planning of Collaborative Locomotion: A Physics-Based and Data-Driven Approach

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dc.contributor.authorFawcett, Randall T.en
dc.contributor.authorAmes, Aaron D.en
dc.contributor.authorHamed, Kaveh Akbarien
dc.date.accessioned2024-01-29T18:06:23Zen
dc.date.available2024-01-29T18:06:23Zen
dc.date.issued2023-11-14en
dc.description.abstractThis work aims to provide a computationally effective and distributed trajectory planner at the intersection of physics-based and data-driven techniques for the collaborative locomotion of holonomically constrained quadrupedal robots that can account for and attenuate interaction forces between subsystems. More specifically, this work lays the foundation for using an interconnected single rigid body model in a predictive control framework such that interaction forces can be utilized at the planning layer, wherein these forces are parameterized via a behavioral systems approach. Furthermore, the proposed trajectory planner is distributed such that each agent can locally plan for its own trajectory subject to coupling dynamics, resulting in a much more computationally efficient method for real-time planning. The optimal trajectory obtained by the planner is then provided to a full-order nonlinear whole-body controller for tracking at the low level. The efficacy and robustness of the proposed approach are verified both in simulation and on hardware subject to various disturbances, payloads, and uneven terrains.en
dc.description.versionPublished versionen
dc.format.extentPages 128369-128382en
dc.format.extent14 page(s)en
dc.format.mimetypeapplication/pdfen
dc.identifier.doihttps://doi.org/10.1109/ACCESS.2023.3332820en
dc.identifier.eissn2169-3536en
dc.identifier.issn2169-3536en
dc.identifier.orcidAkbari Hamed, Kaveh [0000-0001-9597-1691]en
dc.identifier.urihttps://hdl.handle.net/10919/117714en
dc.identifier.volume11en
dc.language.isoenen
dc.publisherIEEEen
dc.rightsCreative Commons Attribution-NonCommercial-NoDerivatives 4.0 Internationalen
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/en
dc.subjectLegged robotsen
dc.subjectmotion controlen
dc.subjectoptimization and optimal controlen
dc.subjectmulti-contact whole-body motion planning and controlen
dc.titleDistributed Planning of Collaborative Locomotion: A Physics-Based and Data-Driven Approachen
dc.title.serialIEEE Accessen
dc.typeArticle - Refereeden
dc.type.dcmitypeTexten
dc.type.otherArticleen
dc.type.otherJournalen
pubs.organisational-group/Virginia Techen
pubs.organisational-group/Virginia Tech/Engineeringen
pubs.organisational-group/Virginia Tech/Engineering/Mechanical Engineeringen
pubs.organisational-group/Virginia Tech/All T&R Facultyen
pubs.organisational-group/Virginia Tech/Engineering/COE T&R Facultyen

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