Versatile and robust bipedal walking in unknown environments: real-time collision avoidance and disturbance rejection
| Autor: | Daniel Wahrmann, Thomas Buschmann, Arne-Christoph Hildebrandt, Felix Sygulla, Robert Wittmann, Daniel J. Rixen |
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| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Disturbance (geology) Computer science 02 engineering and technology Computer Science::Robotics 020901 industrial engineering & automation Artificial Intelligence Control theory 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Motion planning Motion generation Collision avoidance |
| Zdroj: | Autonomous Robots. 43:1957-1976 |
| ISSN: | 1573-7527 0929-5593 |
| Popis: | Autonomous navigation in complex environments featuring obstacles, varying ground compositions, and external disturbances requires real-time motion generation and stabilization simultaneously. In this paper, we present and evaluate a strategy for rejection of external disturbances and real-time motion generation in the presence of obstacles and non-flat ground. We propose different solutions for combining the associated algorithms and analyze them in simulations The promising method is validated in experiments with our robot Lola. We found a hierarchical approach to be effective for solving these complex motion generation problems, because it allows us to decompose the problem into sub-problems that can be tackled separately at different levels. This makes the approach suitable for real-time applications and robust against perturbations and errors. Our results show that real-time motion planning and disturbance rejection can be combined to improve the autonomy of legged robots. |
| Databáze: | OpenAIRE |
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