壁を押して移動する接触暗黙的MPCによるナビゲーション
Wallbounce : Push wall to navigate with Contact-Implicit MPC
壁との非周期的な接触を利用して機動性を高めるため、接触暗黙的プランナーとハイブリッドMPCを組み合わせた二層構造のフレームワークを提案し、小型ボールロボットの腕で壁を押すことで加速・減速・障害物回避を実現した。
著者: Xiaohan Liu, Cunxi Dai, John Z. Zhang, Arun Bishop, Zachary Manchester, Ralph Hollis
分類: cs.RO
原文アブストラクト
In this work, we introduce a framework that enables highly maneuverable locomotion using non-periodic contacts. This task is challenging for traditional optimization and planning methods to handle due to difficulties in specifying contact mode sequences in real-time. To address this, we use a bi-level contact-implicit planner and hybrid model predictive controller to draft and execute a motion plan. We investigate how this method allows us to plan arm contact events on the shmoobot, a smaller ballbot, which uses an inverse mouse-ball drive to achieve dynamic balancing with a low number of actuators. Through multiple experiments we show how the arms allow for acceleration, deceleration and dynamic obstacle avoidance that are not achievable with the mouse-ball drive alone. This demonstrates how a holistic approach to locomotion can increase the control authority of unique robot morpohologies without additional hardware by leveraging robot arms that are typically used only for manipulation. Project website: https://cmushmoobot.github.io/Wallbounce
