滑りやすい路面での歩行パターン生成
Pattern Generation for Walking on Slippery Terrains
モデル予測制御を用いて、滑りやすい平坦な路面でも安全に二足歩行できる歩行パターンを生成する手法を提案した。歩行速度の追従と足裏の安定接触のトレードオフを考慮している。
著者: Majid Khadiv, S. Ali A. Moosavian, Alexander Herzog, Ludovic Righetti
分類: cs.RO
原文アブストラクト
In this paper, we extend state of the art Model Predictive Control (MPC) approaches to generate safe bipedal walking on slippery surfaces. In this setting, we formulate walking as a trade off between realizing a desired walking velocity and preserving robust foot-ground contact. Exploiting this formulation inside MPC, we show that safe walking on various flat terrains can be achieved by compromising three main attributes, i. e. walking velocity tracking, the Zero Moment Point (ZMP) modulation, and the Required Coefficient of Friction (RCoF) regulation. Simulation results show that increasing the walking velocity increases the possibility of slippage, while reducing the slippage possibility conflicts with reducing the tip-over possibility of the contact and vice versa.
