混合整数凸最適化による多脚ロボットの接触・歩容・運動の同時計画
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
混合整数凸最適化を用いて、接触位置・歩容遷移・運動を同時に計画する手法を提案し、HyQロボットで不整地を含む実環境での有効性を実証した。
著者: Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G. Caldwell, Jose Cappelletto, Juan C. Grieco, Gerardo Fernandez-Lopez, Claudio Semini
分類: cs.RO, cs.AI, cs.SY, eess.SY
原文アブストラクト
Traditional motion planning approaches for multi-legged locomotion divide the problem into several stages, such as contact search and trajectory generation. However, reasoning about contacts and motions simultaneously is crucial for the generation of complex whole-body behaviors. Currently, coupling theses problems has required either the assumption of a fixed gait sequence and flat terrain condition, or non-convex optimization with intractable computation time. In this paper, we propose a mixed-integer convex formulation to plan simultaneously contact locations, gait transitions and motion, in a computationally efficient fashion. In contrast to previous works, our approach is not limited to flat terrain nor to a pre-specified gait sequence. Instead, we incorporate the friction cone stability margin, approximate the robot's torque limits, and plan the gait using mixed-integer convex constraints. We experimentally validated our approach on the HyQ robot by traversing different challenging terrains, where non-convexity and flat terrain assumptions might lead to sub-optimal or unstable plans. Our method increases the motion generality while keeping a low computation time.
