OpenSHC：多脚ロボット向け汎用高レベルコントローラ
OpenSHC: A Versatile Multilegged Robot Controller
準静的な多脚ロボットの歩容と姿勢を生成するオープンソースの高レベルコントローラで、ROS統合により様々なアクチュエータや脚構成の実機・シミュレーションに展開でき、6脚ロボットで歩容や脚配置のエネルギー性能を評価した。
著者: Benjamin Tam, Fletcher Talbot, Ryan Steindl, Alberto Elfes, Navinda Kottege
分類: cs.RO
原文アブストラクト
Multilegged robots have the ability to perform stable locomotion on relatively rough terrain. However, the complexity of legged robots over wheeled or tracked robots make them difficult to control. This paper presents OpenSHC (Open-source Syropod High-level Controller), a versatile high-level controller {capable of generating gaits and poses for quasi-static multilegged robots, both simulated and with real hardware implementations. With full Robot Operating System (ROS) integration, the controller can be quickly deployed on robots with different actuators and sensor payloads}. The flexibility of OpenSHC is demonstrated on the 30 degrees of freedom hexapod Bullet, analysing the energetic performance of various leg configurations, kinematic arrangements and gaits over different locomotion speeds. With OpenSHC being easily configured to different physical and locomotion specifications, a hardware-based parameter space search for optimal locomotion parameters is conducted. The experimental evaluation shows that the mammalian configuration offers lower power consumption across a range of step frequencies; with the insectoid configuration providing performance advantages at higher body velocities and increased stability at low step frequencies. OpenSHC is open-source and able to be configured for various number of joints and legs.
