確率的把持力を考慮した多脚ロボットのリスク認識型動作計画
Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming
把持力の不確かさを確率制約として扱い、リスク許容度に応じて姿勢と接触力を同時に計画する非線形計画法を提案し、6脚ロボットの壁登りで検証した。
著者: Yuki Shirai, Xuan Lin, Yusuke Tanaka, Ankur Mehta, Dennis Hong
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
We present a motion planning algorithm with probabilistic guarantees for limbed robots with stochastic gripping forces. Planners based on deterministic models with a worst-case uncertainty can be conservative and inflexible to consider the stochastic behavior of the contact, especially when a gripper is installed. Our proposed planner enables the robot to simultaneously plan its pose and contact force trajectories while considering the risk associated with the gripping forces. Our planner is formulated as a nonlinear programming problem with chance constraints, which allows the robot to generate a variety of motions based on different risk bounds. To model the gripping forces as random variables, we employ Gaussian Process regression. We validate our proposed motion planning algorithm on an 11.5 kg six-limbed robot for two-wall climbing. Our results show that our proposed planner generates various trajectories (e.g., avoiding low friction terrain under the low risk bound, choosing an unstable but faster gait under the high risk bound) by changing the probability of risk based on various specifications.
