相補性制約を用いた多脚壁面登攀ロボットの遷移動作計画
Transition Motion Planning for Multi-Limbed Vertical Climbing Robots Using Complementarity Constraints
地面から壁面への移行を含む多脚ロボットの登攀動作を、接触制約と脚の切り替えを相補性条件としてモデル化し、非線形計画問題として解くことで足配置と接触力の実現可能な系列を生成した。6脚ロボットSiLVIAで実機検証を行った。
著者: Jingwen Zhang, Xuan Lin, Dennis W Hong
分類: cs.RO
原文アブストラクト
In order to achieve autonomous vertical wall climbing, the transition phase from the ground to the wall requires extra consideration inevitably. This paper focuses on the contact sequence planner to transition between flat terrain and vertical surfaces for multi-limbed climbing robots. To overcome the transition phase, it requires planning both multi-contact and contact wrenches simultaneously which makes it difficult. Instead of using a predetermined contact sequence, we consider various motions on different environment setups via modeling contact constraints and limb switchability as complementarity conditions. Two safety factors for toe sliding and motor over-torque are the main tuning parameters for different contact sequences. By solving as a nonlinear program (NLP), we can generate several feasible sequences of foot placements and contact forces to avoid failure cases. We verified feasibility with demonstrations on the hardware SiLVIA, a six-legged robot capable of vertically climbing between two walls by bracing itself in-between using only friction.
