论文标题
四足球运动计划：耦合计划，地形映射和全身控制
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control
论文作者
论文摘要
考虑到地形条件，计划全身运动对于腿部机器人来说是一个具有挑战性的问题，因为地形模型可能会产生许多本地最小值。我们的耦合计划方法使用随机和无衍生物的搜索来计划立足点位置和由于地形模型产生的局部最小值而导致的水平运动。它共同优化了身体运动，步骤持续时间和立足点的选择，并将地形建模为成本图。由于新颖的态度计划方法，可以将水平运动计划应用于各种地形条件。态度计划者通过对角加速度施加限制来确保机器人稳定性。我们的全身控制器在避免滑动以及运动型和扭矩限制的同时，符合行李箱运动。尽管使用了一个简化的模型，该模型仅限于平坦的地形，但我们的方法表现出了出色的能力，可以处理广泛的非稳定地形。通过实验试验和一系列逐渐增加复杂性的地形进行了比较评估来验证结果。
Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our coupled planning method uses stochastic and derivatives-free search to plan both foothold locations and horizontal motions due to the local minima produced by the terrain model. It jointly optimizes body motion, step duration and foothold selection, and it models the terrain as a cost-map. Due to the novel attitude planning method, the horizontal motion plans can be applied to various terrain conditions. The attitude planner ensures the robot stability by imposing limits to the angular acceleration. Our whole-body controller tracks compliantly trunk motions while avoiding slippage, as well as kinematic and torque limits. Despite the use of a simplified model, which is restricted to flat terrain, our approach shows remarkable capability to deal with a wide range of non-coplanar terrains. The results are validated by experimental trials and comparative evaluations in a series of terrains of progressively increasing complexity.
