動的に変化する環境における単脚ホッパーのモデル予測パルクール制御
Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments
動的に変化する障害物コースを混合整数計画で経路計画し、PD制御と状態機械で単脚ホッパーを走破させるモデル予測パルクール制御を提案した。
著者: Maximilian Albracht, Shivesh Kumar, Shubham Vyas, Frank Kirchner
分類: cs.RO
原文アブストラクト
A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of obstacle courses provides invaluable insights into the challenges legged robots face, offering a controlled environment to assess and enhance their capabilities. Traversing it with a one-legged hopper introduces intricate challenges, such as planning over contacts and dealing with flight phases, which necessitates a sophisticated controller. A novel model predictive parkour controller is introduced, that finds an optimal path through a real-time changing obstacle course with mixed integer motion planning. The execution of this optimized path is then achieved through a state machine employing a PD control scheme with feedforward torques, ensuring robust and accurate performance.
