论文标题
最新的感知腿部运动方法
Recent Approaches for Perceptive Legged Locomotion
论文作者
论文摘要
随着腿部机器人和嵌入式计算都变得越来越有能力，研究人员已经开始专注于这些机器人的现场部署。在非结构化环境中，强大的自治需要对机器人周围的世界感知，以避免危害。但是，由于处理运动动态所需的复杂计划者和控制器，因此在网上合并在线的同时在线保持敏捷运动对腿部机器人更具挑战性。该报告将比较三种最新的感知运动方法，并讨论可以使用视觉来实现腿部自主权的不同方式。
As both legged robots and embedded compute have become more capable, researchers have started to focus on field deployment of these robots. Robust autonomy in unstructured environments requires perception of the world around the robot in order to avoid hazards. However, incorporating perception online while maintaining agile motion is more challenging for legged robots than other mobile robots due to the complex planners and controllers required to handle the dynamics of locomotion. This report will compare three recent approaches for perceptive locomotion and discuss the different ways in which vision can be used to enable legged autonomy.
