テンプレート・アンカーフレームワークによる安全なオンライン歩行設計
Leveraging the Template and Anchor Framework for Safe, Online Robotic Gait Design
テンプレートモデル上で到達可能性解析を行いモデル誤差を考慮することで、アンカーモデルに対する安全保証付き制御器をオンラインで生成する手法を提案し、5リンクRABBITモデルで安全な歩行を実現した。
著者: Jinsun Liu, Pengcheng Zhao, Zhenyu Gan, Matthew Johnson-Roberson, Ram Vasudevan
分類: cs.RO
原文アブストラクト
Online control design using a high-fidelity, full-order model for a bipedal robot can be challenging due to the size of the state space of the model. A commonly adopted solution to overcome this challenge is to approximate the full-order model (anchor) with a simplified, reduced-order model (template), while performing control synthesis. Unfortunately it is challenging to make formal guarantees about the safety of an anchor model using a controller designed in an online fashion using a template model. To address this problem, this paper proposes a method to generate safety-preserving controllers for anchor models by performing reachability analysis on template models while bounding the modeling error. This paper describes how this reachable set can be incorporated into a Model Predictive Control framework to select controllers that result in safe walking on the anchor model in an online fashion. The method is illustrated on a 5-link RABBIT model, and is shown to allow the robot to walk safely while utilizing controllers designed in an online fashion.
