障害物だらけの経路を歩く二足ロボットの安全重視制御：目的地へのナビゲーション中の障害物克服
Safety-critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles during Navigation toward Destination
未知の障害物との物理的な相互作用を利用して安全条件に優先順位を設け、追加の動作計画なしに安全な参照軌道を生成する二足歩行制御フレームワークを提案した。
著者: Jaemin Lee, Min Dai, Jeeseop Kim, Aaron D. Ames
分類: cs.RO
原文アブストラクト
This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots confront unavoidable obstacles en route to their designated destination. Through the utilization of outcomes from physical interactions with unknown objects, we establish a hierarchy among the safety-critical conditions avoiding the obstacles. This hierarchy enables the generation of a safe reference trajectory that adeptly mitigates conflicts among safety conditions and reduce the risk while controlling the robot toward its destination without additional motion planning methods. In addition, robust bipedal locomotion is achieved by utilizing the Hybrid Linear Inverted Pendulum model, coupled with a disturbance observer addressing a disturbance from the physical interaction.
