- 新規開発の adaptive optimal control algorithms を quadrupedal locomotion に適用
- Lunar/Martian surfaces を模した analog environment での field testing を前提とした technical approach と test plan を設計
- software architecture と field deployment strategy を構築し、実機を火山環境へ投入
- アルゴリズム詳細や制御則の数式・構成は要旨からは不明
4. どうやって有効だと検証した？
- Aeolian island of Vulcano の active stratovolcano における一連の field experiments で検証
- 高忠実度 analog environment 上で adaptive optimal control algorithms の有効性を評価
- evaluation results は論文内で報告されると記載
- 具体的な評価指標・定量的結果は要旨からは不明
Missions such as the Ingenuity helicopter have shown the advantages of using novel locomotion modes to increase the scientific return of planetary exploration missions. Legged robots can further expand the reach and capability of future planetary missions by traversing more difficult terrain than wheeled rovers, such as jumping over cracks on the ground or traversing rugged terrain with boulders. To develop and test algorithms for using quadruped robots, the AAPLE project was carried out at DFKI. As part of the project, we conducted a series of field experiments on the Volcano on the Aeolian island of Vulcano, an active stratovolcano near Sicily, Italy. The experiments focused on validating newly developed state-of-the-art adaptive optimal control algorithms for quadrupedal locomotion in a high-fidelity analog environment for Lunar and Martian surfaces. This paper presents the technical approach, test plan, software architecture, field deployment strategy, and evaluation results from the Vulcano campaign.
