リーマン運動ポリシーと全身制御を統合した衝突回避型脚式ロコモーション
Integration of Riemannian Motion Policy with Whole-Body Control for Collision-Free Legged Locomotion
リーマン運動ポリシー(RMP)を動的脚式システムに拡張し、衝突回避とバランス追従を両立する全身制御フレームワークを提案。シミュレーションで外乱に対するロバスト性が最大53%向上することを示した。
著者: Daniel Marew, Misha Lvovsky, Shangqun Yu, Shotaro Sessions, Donghyun Kim
分類: cs.RO
原文アブストラクト
In this paper, we present a Riemannian Motion Policy (RMP)flow-based whole-body control framework for improved dynamic legged locomotion. RMPflow is a differential geometry-inspired algorithm for fusing multiple task-space policies (RMPs) into a configuration space policy in a geometrically consistent manner. RMP-based approaches are especially suited for designing simultaneous tracking and collision avoidance behaviors and have been successfully deployed on serial manipulators. However, one caveat of RMPflow is that it is designed with fully actuated systems in mind. In this work, we, for the first time, extend it to the domain of dynamic-legged systems, which have unforgiving under-actuation and limited control input. Thorough push recovery experiments are conducted in simulation to validate the overall framework. We show that expanding the valid stepping region with an RMP-based collision-avoidance swing leg controller improves balance robustness against external disturbances by up to 53\% compared to a baseline approach using a restricted stepping region. Furthermore, a point-foot biped robot is purpose-built for experimental studies of dynamic biped locomotion. A preliminary unassisted in-place stepping experiment is conducted to show the viability of the control framework and hardware.
