A force-control scheme for biped robots to walk over uneven terrain including partial footholds
A force-control scheme for biped robots to walk over uneven terrain including partial footholds
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DOI：
10.1177/1729881419897472
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发表时间：
2020-01-01
影响因子：
2.3
通讯作者：
Rixen, Daniel
中科院分区：
文献类型：
--
作者：
Sygulla, Felix;Rixen, Daniel
在未知和不平坦的地形中，步行的鲁棒性仍然是研究中的一个主要挑战。穿越这样的环境通常是通过基于视觉的立足点和反馈回路的推理来解决的，比如地面力量控制。仍然缓慢地穿越不确定的地形，以将感知环境模型的不准确性保持在较低水平。在这篇文章中，我们提出了一个地面部队控制方案，允许快速穿越不平坦的地形，包括计划外的部分立足点，而不使用基于视觉的数据。该方法由早期接触方法、具有自适应接触模型的直接力控制和基于接触力数据自适应质心高度的策略组成。所提出的方法，使人形机器人萝拉步行在一个复杂的不平坦的地形与6厘米的地面高度变化在0.5米/秒的步行速度。我们认为我们的工作是对不准确甚至缺乏环境信息所造成的地形不确定性的鲁棒性的总体改进。
The robustness of biped walking in unknown and uneven terrains is still a major challenge in research. Traversing such environments is usually solved through vision-based reasoning on footholds and feedback loops-such as ground force control. Uncertain terrains are still traversed slowly to keep inaccuracies in the perceived environment model low. In this article, we present a ground force-control scheme that allows for fast traversal of uneven terrain-including unplanned partial footholds-without using vision-based data. The approach is composed of an early-contact method, direct force control with an adaptive contact model, and a strategy to adapt the center of mass height based on contact force data. The proposed method enables the humanoid robot Lola to walk over a complex uneven terrain with 6 cm variation in ground height at a walking speed of 0.5 m/s. We consider our work a general improvement on the robustness to terrain uncertainties caused by inaccurate or even lacking information on the environment.