四足歩行のための高速凸型視覚的足場適応
Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion
ニューラルネット回帰で安全な足場領域を高速近似し、凸分解とMPCを組み合わせて四足ロボットの着地位置を最適化する制御手法を提案し、HyQRealのシミュレーションで検証した。
著者: Shafeef Omar, Lorenzo Amatucci, Giulio Turrisi, Victor Barasuol, Claudio Semini
分類: cs.RO
原文アブストラクト
This extended abstract provides a short introduction on our recently developed perception-based controller for quadrupedal locomotion. Compared to our previous approach based on Visual Foothold Adaptation (VFA) and Model Predictive Control (MPC), our new framework combines a fast approximation of the safe foothold regions based on Neural Network regression, followed by a convex decomposition routine in order to generate safe landing areas where the controller can freely optimize the footholds location. The aforementioned framework, which combines prediction, convex decomposition, and MPC solution, is tested in simulation on our 140kg hydraulic quadruped robot (HyQReal).
