Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain
Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain
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DOI：
10.1109/tro.2022.3228713
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发表时间：
2023-01-06
影响因子：
7.8
通讯作者：
Grizzle, Jessy W.
中科院分区：
文献类型：
--
作者：
Huang, Jiunn-Kai;Grizzle, Jessy W.
我们提出并在实验上展示了在未开发的，具有挑战性的地形上的两足机器人的反应性计划系统。该系统包括：用于评估遍历性的多层本地地图；任何时间全向控制Lyapunov函数，可与快速探索随机树星（RRT*）一起使用，该函数生成一个向量场，用于指定节点之间的运动；当最终目标不在当前地图之外时，一个子观念器；以及一台有限的机器来处理高级任务决策。该系统还包括一个反应性线程，该线程通过闭环反馈策略定义的矢量字段来应对机器人偏差。矢量字段为机器人的步态控制器提供实时控制命令，这是瞬时机器人姿势的函数。该系统在各种具有挑战性的室外地形和室内杂乱无章的室内场景中进行了评估，并在Cassie Blue上是一个具有20个自由度的双皮亚机器人Cassie Blue。
We propose and experimentally demonstrate a reactive planning system for bipedal robots on unexplored, challenging terrain. The system includes: a multilayer local map for assessing traversability; an anytime omnidirectional control Lyapunov function for use with a rapidly exploring random tree star (RRT*) that generates a vector field for specifying motion between nodes; a subgoal finder when the final goal is outside of the current map; and a finite-state machine to handle high-level mission decisions. The system also includes a reactive thread that copes with robot deviations via a vector field, defined by a closed-loop feedback policy. The vector field provides real-time control commands to the robot's gait controller as a function of instantaneous robot pose. The system is evaluated on various challenging outdoor terrains and cluttered indoor scenes in both simulation and experiment on Cassie Blue, a bipedal robot with 20 degrees of freedom.