市販四足歩行ロボットを異種ロボットチームへ導入する試み
Deploying COTS Legged Robot Platforms into a Heterogeneous Robot Team
Ghost RoboticsのVision 60とBoston DynamicsのSpotを異種ロボットチームに統合し、統合時の課題や不整地走行実験を通じて実環境展開の知見を示した。
著者: Benjamin Tam, Thomas Molnar, Fletcher Talbot, Brett Wood, Ryan Steindl
分類: cs.RO
原文アブストラクト
The recent availability of commercial-off-the-shelf (COTS) legged robot platforms have opened up new opportunities in deploying legged systems into different scenarios. While the main advantage of legged robots is their ability to traverse unstructured terrain, there are still large gaps between what robot platforms can achieve and their animal counterparts. Therefore, when deploying as part of a heterogeneous robot team of different platforms, it is beneficial to understand the different scenarios where a legged platform would perform better than a wheeled, tracked or aerial platform. Two COTS quadruped robots, Ghost Robotics' Vision 60 and Boston Dynamics' Spot, were deployed into a heterogeneous team. A description of some of the challenges faced while integrating the platforms, as well as some experiments in traversing different terrains are provided to give insight into the real-world deployment of legged robots.
