Perceptive Locomotion in Rough Terrain – Online Foothold Optimization
| Autor: | Marco Hutter, Aravind E. Vijayan, Takahiro Miki, Marko Bjelonic, Fabian Jenelten |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Schedule Control and Optimization Traverse Computer science Biomedical Engineering Terrain ComputerApplications_COMPUTERSINOTHERSYSTEMS 02 engineering and technology Legged Robots Motion control Optimization and Optimal Control Foothold Optimization Perceptive Locomotion 03 medical and health sciences 020901 industrial engineering & automation 0302 clinical medicine Stairs Artificial Intelligence Computer vision ComputingMethodologies_COMPUTERGRAPHICS business.industry Mechanical Engineering Pipeline (software) Computer Science Applications Human-Computer Interaction Control and Systems Engineering 030220 oncology & carcinogenesis Robot Computer Vision and Pattern Recognition Artificial intelligence business Actuator |
| Zdroj: | IEEE Robotics and Automation Letters, 5 (4) |
| ISSN: | 2377-3766 |
| DOI: | 10.3929/ethz-b-000425596 |
| Popis: | Compared to wheeled vehicles, legged systems have a vast potential to traverse challenging terrain. To exploit the full potential, it is crucial to tightly integrate terrain perception for foothold planning. We present a hierarchical locomotion planner together with a foothold optimizer that finds locally optimal footholds within an elevation map. The map is generated in real-time from on-board depth sensors. We further propose a terrain-aware contact schedule to deal with actuator velocity limits. We validate the combined locomotion pipeline on our quadrupedal robot ANYmal with a variety of simulated and real-world experiments. We show that our method can cope with stairs and obstacles of heights up to 33% of the robot’s leg length. IEEE Robotics and Automation Letters, 5 (4) ISSN:2377-3766 |
| Databáze: | OpenAIRE |
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