四足ロボットの動的遷移可能性を考慮した足場評価基準
Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots
四足ロボットが複雑な地形を移動する際、将来の線形・角運動の遷移可能性を考慮して足場を評価する基準を提案し、視覚に基づく足場適応戦略と統合してシミュレーションと実機で検証した。
著者: Luca Clemente, Octavio Villarreal, Angelo Bratta, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini
分類: cs.RO
原文アブストラクト
To traverse complex scenarios reliably a legged robot needs to move its base aided by the ground reaction forces, which can only be generated by the legs that are momentarily in contact with the ground. A proper selection of footholds is crucial for maintaining balance. In this paper, we propose a foothold evaluation criterion that considers the transition feasibility for both linear and angular dynamics to overcome complex scenarios. We devise convex and nonlinear formulations as a direct extension of the Continuous Convex Resolution of Centroidal Dynamic Trajectories (C-CROC) in a receding-horizon fashion to grant dynamic feasibility for future behaviours. The criterion is integrated with a Vision-based Foothold Adaptation (VFA) strategy that takes into account the robot kinematics, leg collisions and terrain morphology. We verify the validity of the selected footholds and the generated trajectories in simulation and experiments with the 90kg quadruped robot HyQ.
