限られた知覚で3次元複雑環境を踏破する四足ロボット
Quadruped robot traversing 3D complex environments with limited perception
視覚やLiDARに頼らず固有受容感覚のみで衝突を検知・定位し、未知の複雑な3次元環境を俊敏に踏破する四足ロボットのエンドツーエンド学習制御器を提案した。
著者: Yi Cheng, Hang Liu, Guoping Pan, Linqi Ye, Houde Liu, Bin Liang
分類: cs.RO
原文アブストラクト
Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental information. However, in scenarios like nighttime or dense forests, external sensors often fail to function properly, necessitating robots to rely on proprioceptive sensors to perceive diverse obstacles in the environment and respond promptly. This task is undeniably challenging. Our research finds that methods based on collision detection can enhance a robot's perception of environmental obstacles. In this work, we propose an end-to-end learning-based quadruped robot motion controller that relies solely on proprioceptive sensing. This controller can accurately detect, localize, and agilely respond to collisions in unknown and complex 3D environments, thereby improving the robot's traversability in complex environments. We demonstrate in both simulation and real-world experiments that our method enables quadruped robots to successfully traverse challenging obstacles in various complex environments.
