四脚ロボットの難地形歩行のためのオンライン・オンボード計画と知覚
On-line and on-board planning and perception for quadrupedal locomotion
格子表現と身体動作プリミティブで胴体動作を計画し、足置き探索領域の規則とARA*探索で足運びをオンライン・オンボードで生成する四脚歩行計画手法を提案し、難地形での実機実験で有効性を示した。
著者: Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini
分類: cs.RO, cs.CV
原文アブストラクト
We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a lattice representation together with a set of defined body movement primitives for computing a body action plan. The lattice representation allows us to plan versatile movements that ensure feasibility for every possible plan. To this end, we propose a set of rules that define the footstep search regions and footstep sequence given a body action. We use Anytime Repairing A* (ARA*) search that guarantees bounded suboptimal plans. Our main contribution is a planning approach that generates on-line versatile movements. Experimental trials demonstrate the performance of our planning approach in a set of challenging terrain conditions. The terrain information and plans are computed on-line and on-board.
