四足歩行のタスク空間計画のための解析モデル
Analytic Model for Quadruped Locomotion Task-Space Planning
四足歩行を重心で連結された2つの二足歩行として捉え、重力アトラクタのトポロジーに基づく代数モデルを拡張して、重心と足の軌道を簡易に生成する手法を提案した。
著者: Carlo Tiseo, Sethu Vijayakumar, Michael Mistry
分類: cs.RO
原文アブストラクト
Despite the extensive presence of the legged locomotion in animals, it is extremely challenging to be reproduced with robots. Legged locomotion is an dynamic task which benefits from a planning that takes advantage of the gravitational pull on the system. However, the computational cost of such optimization rapidly increases with the complexity of kinematic structures, rendering impossible real-time deployment in unstructured environments. This paper proposes a simplified method that can generate desired centre of mass and feet trajectory for quadrupeds. The model describes a quadruped as two bipeds connected via their centres of mass, and it is based on the extension of an algebraic bipedal model that uses the topology of the gravitational attractor to describe bipedal locomotion strategies. The results show that the model generates trajectories that agrees with previous studies. The model will be deployed in the future as seed solution for whole-body trajectory optimization in the attempt to reduce the computational cost and obtain real-time planning of complex action in challenging environments.
