Floating-base Robot Models

Alexander W. Winkler

www.awinkler.me

[ taken from Chapter 1.2 of A.W. Winkler, "Optimization-based motion planning for legged robots", PhD Thesis, ETH Zurich, 2018 ]

\mathbf{\dot{x}} = \mathbf{F}(\mathbf{x}(t), \color{red}{\mathbf{u}(t)})

\mathbf{\dot{x}} = \mathbf{F}(\mathbf{x}(t), \color{red}{\mathbf{u}(t)})

	(pos)		Assumptions
Rigid Body Dynamics (RBD)			A1
Centroidal Dynamics (CD)			A1
Single Rigid Body Dynamics (SRBD)			A1, A2, A3
Linear Inverted Pendulum (LIP)			A1, A2, A3, A4, A5, A6

Floating-base Robot Models Alexander W. Winkler www.awinkler.me [ taken from Chapter 1.2 of A.W. Winkler, "Optimization-based motion planning for legged robots" , PhD Thesis , ETH Zurich, 2018 ] x ˙ = F ( x ( t ) , u ( t ) ) \mathbf{\dot{x}} = \mathbf{F}(\mathbf{x}(t), \color{red}{\mathbf{u}(t)})

Centroidal Dynamics Model Comparison

By Alexander W. Winkler

Centroidal Dynamics Model Comparison

PDF: https://www.research-collection.ethz.ch/handle/20.500.11850/272432

7 years ago
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Alexander W. Winkler

Robotics researcher specialized in motion planning for legged systems.

awinkler.me

Floating-base Robot Models

"Reality" $\Rightarrow$ Rigid Body Dynamics

Rigid Body Dynamics $\Rightarrow$ Centroidal Dynamics

Centroidal Dynamics $\Rightarrow$ Single Rigid Body Dynamics

SRBD $\Rightarrow$ Linear Inverted Pendulum

Centroidal Dynamics Model Comparison

Centroidal Dynamics Model Comparison

Alexander W. Winkler

Floating-base Robot Models

Centroidal Dynamics Model Comparison

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