四足歩行のための運動計画：接地位置と全身運動の統合計画・地形マッピング・全身制御
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control
地形のコストマップ上で接地位置と水平運動を確率的・微分不要探索で同時に計画し、姿勢計画と全身制御を組み合わせて不整地での四足歩行を実現した研究。
著者: Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our coupled planning method uses stochastic and derivatives-free search to plan both foothold locations and horizontal motions due to the local minima produced by the terrain model. It jointly optimizes body motion, step duration and foothold selection, and it models the terrain as a cost-map. Due to the novel attitude planning method, the horizontal motion plans can be applied to various terrain conditions. The attitude planner ensures the robot stability by imposing limits to the angular acceleration. Our whole-body controller tracks compliantly trunk motions while avoiding slippage, as well as kinematic and torque limits. Despite the use of a simplified model, which is restricted to flat terrain, our approach shows remarkable capability to deal with a wide range of non-coplanar terrains. The results are validated by experimental trials and comparative evaluations in a series of terrains of progressively increasing complexity.
