軟弱地形を歩行する脚式ロボットの状態推定
On State Estimation for Legged Locomotion over Soft Terrain
剛体接触を前提としたIMUと脚オドメトリの融合による状態推定器をHyQロボットで軟弱地と剛体地の両方で実験し、軟弱地では推定精度が低下しドリフトが生じることを示した。
著者: Shamel Fahmi, Geoff Fink, Claudio Semini
分類: cs.RO
原文アブストラクト
Locomotion over soft terrain remains a challenging problem for legged robots. Most of the work done on state estimation for legged robots is designed for rigid contacts, and does not take into account the physical parameters of the terrain. That said, this letter answers the following questions: how and why does soft terrain affect state estimation for legged robots? To do so, we utilized a state estimator that fuses IMU measurements with leg odometry that is designed with rigid contact assumptions. We experimentally validated the state estimator with the HyQ robot trotting over both soft and rigid terrain. We demonstrate that soft terrain negatively affects state estimation for legged robots, and that the state estimates have a noticeable drift over soft terrain compared to rigid terrain.
