固有受容センシングを用いた四足ロボットの地形認識型安全歩行
Towards Terrain-Aware Safe Locomotion for Quadrupedal Robots Using Proprioceptive Sensing
IMUや関節エンコーダなどの固有受容センサのみを搭載した低コスト四足ロボット向けに、2.5D地形マップと支持面パラメータを推定し、制御バリア関数と統合することで安全な歩行を実現する手法を提案した。
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: Peiyu Yang, Jiatao Ding, Wei Pan, Claudio Semini, Cosimo Della Santina
分類: cs.RO
原文アブストラクト
Achieving safe quadrupedal locomotion in real-world environments has attracted much attention in recent years. When walking over uneven terrain, achieving reliable estimation and realising safety-critical control based on the obtained information is still an open question. To address this challenge, especially for low-cost robots equipped solely with proprioceptive sensors (e.g., IMUs, joint encoders, and contact force sensors), this work first presents an estimation framework that generates a 2.5-D terrain map and extracts support plane parameters, which are then integrated into contact and state estimation. Then, we integrate this estimation framework into a safety-critical control pipeline by formulating control barrier functions that provide rigorous safety guarantees. Experiments demonstrate that the proposed terrain estimation method provides smooth terrain representations. Moreover, the coupled estimation framework of terrain, state, and contact reduces the mean absolute error of base position estimation by 64.8%, decreases the estimation variance by 47.2%, and improves the robustness of contact estimation compared to a decoupled framework. The terrain-informed CBFs integrate historical terrain information and current proprioceptive measurements to ensure global safety by keeping the robot out of hazardous areas and local safety by preventing body-terrain collision, relying solely on proprioceptive sensing.
