接触遷移木最適化によるヒューマノイドの統合的多接触転倒緩和計画
Unified Multi-Contact Fall Mitigation Planning for Humanoids via Contact Transition Tree Optimization
接触系列とロボット軌道を同時に最適化する接触遷移木探索により、慣性整形・防御的踏み出し・手接触を統合したヒューマノイドの転倒緩和計画手法を提案した。
著者: Shihao Wang, Kris Hauser
分類: cs.RO
原文アブストラクト
This paper presents a multi-contact approach to generalized humanoid fall mitigation planning that unifies inertial shaping, protective stepping, and hand contact strategies. The planner optimizes both the contact sequence and the robot state trajectories. A high-level tree search is conducted to iteratively grow a contact transition tree. At each edge of the tree, trajectory optimization is used to calculate robot stabilization trajectories that produce the desired contact transition while minimizing kinetic energy. Also, at each node of the tree, the optimizer attempts to find a self-motion (inertial shaping movement) to eliminate kinetic energy. This paper also presents an efficient and effective method to generate initial seeds to facilitate trajectory optimization. Experiments demonstrate show that our proposed algorithm can generate complex stabilization strategies for a simulated robot under varying initial pushes and environment shapes.
