何本脚でも歩ける：不整地を歩行する多脚ロボットの制御
Walking on Rough Terrain with Any Number of Legs
2脚につき3アクチュエータを持つセグメント型ロボットで、6〜16脚の不整地歩行を実現する軽量な制御アーキテクチャを提案し、シミュレーションで検証した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Zhuoyang Chen, Xinyuan Wang, Shai Revzen
分類: cs.RO
原文アブストラクト
Robotics would gain by replicating the remarkable agility of arthropods in navigating complex environments. Here we consider the control of multi-legged systems which have 6 or more legs. Current multi-legged control strategies in robots include large black-box machine learning models, Central Pattern Generator (CPG) networks, and open-loop feed-forward control with stability arising from mechanics. Here we present a multi-legged control architecture for rough terrain using a segmental robot with 3 actuators for every 2 legs, which we validated in simulation for robots with 6 to 16 legs. Segments have identical state machines, and each segment also receives input from the segment in front of it. Our design bridges the gap between WalkNet-like event cascade controllers and CPG-based controllers: it tightly couples to the ground when contact is present, but produces fictive locomotion when ground contact is missing. The approach may be useful as an adaptive and computationally lightweight controller for multi-legged robots, and as a baseline capability for scaffolding the learning of machine learning controllers.
