System and Method for Controlling a Multi-Legged Robot

Abstract: the present disclosure discloses a system and a method for controlling a robot to perform a task. the robot is a legged robot that comprises a trunk and a plurality of legs for supporting the trunk above a ground. the system is configured to collect a reference trajectory defining a sequence of states of the robot to perform the task and execute a stance controller configured to compute and apply reaction forces of the plurality of legs of the robot in contact with the ground to push the trunk based on the reference trajectory. the system is further configured to execute a swing controller of a plurality of swing controllers to swing a leg in response to detecting a relative position between the trunk and a foot of the leg of the robot indicative of an imbalance of a support of the trunk of the robot above the ground.

Inventor(s): Marcel Menner, Stefano Di Cairano, Alexander Schperberg

CPC Classification: B25J9/1664 ({characterised by motion, path, trajectory planning})

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