Quadruped Robot Navigation Considering the Observational Cost

Quadruped Robot Navigation Considering the Observational Cost
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考虑观测成本的四足机器人导航

DOI：
10.1007/3-540-45603-1_42
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发表时间：
2001
期刊：
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影响因子：
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通讯作者：
T. Arai
T. Arai
中科院分区：
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文献类型：
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作者：
Takeshi Fukase;M. Yokoi;Yuichi Kobayashi;R. Ueda;H. Yuasa;T. Arai

文献摘要

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本文以索尼足式机器人联盟的四足机器人为例，提出了一种确定机器人最优运动的新方法。该方法使“观测成本”尽可能小。我们处理的任务是导航。在传感器能力受限、CPU功率有限、运动不准确等不利条件下，该方法能使机器人快速鲁棒地到达目的地。最后通过实验验证了该方法的有效性。
In this paper, we present a new method to decide the optimal robot’s motion with a quadruped robot of Sony Legged Robots League. The method keeps the “observational cost” as small as possible. The task we cope with is navigation. The robot can reach the destination rapidly and robustly with this method in spite of under the unfavorable conditions such as restricted sensor ability, limited CPU power, and inaccurate locomotion. Finally the efficiency of our method is verified by experiments.