A real-time low-computation cost human-following framework in outdoor environment for legged robots
A real-time low-computation cost human-following framework in outdoor environment for legged robots
复制标题
DOI：
10.1016/j.robot.2021.103899
复制
发表时间：
2021-10-19
影响因子：
4.3
通讯作者：
Gao, Feng
中科院分区：
文献类型：
--
作者：
Zhao, Yue;Gao, Yue;Gao, Feng
与轮式机器人相比，腿式机器人在机动性方面具有潜在的优势。因此，腿式机器人在室外非结构化环境中得到了广泛的应用。人类跟随操作是户外机器人的重要任务之一。然而，目前大多数人类跟随策略需要大量的计算资源，因此难以应用于有腿机器人。提出了一种室外环境下实时低计算成本的有腿机器人人体跟随框架。我们的方法充分考虑了腿式机器人与轮式机器人的区别。首先，提出了一种计算摄像机坐标和世界坐标系的在线外部定标方法。然后，提出了一种利用RGBD相机和3D激光雷达的实时低计算成本的人体跟踪方法。机器人的运动考虑了在避开障碍物的同时跟踪领头的人。在此基础上，提出了一种动态交替三脚架小跑步态来控制机器人跟随领跑人。最后，对该方法进行了室内和室外实验，并在六足机器人“青珠”上进行了实现和测试。本文提出的框架可以为其他有腿机器人在室外环境中工作提供有价值的参考。(C) 2021 Elsevier B.V.版权所有
Legged robots have potential advantages in mobility compared with wheeled robots. Hence, legged robots are widely utilized in outdoor unstructured environments. Human-following operation is one of important tasks for outdoor robots. However, most current human-following strategies requires large amount of computation resource hence difficult to be applied to legged robots. This paper proposes real-time low-computation cost human-following framework in outdoor environment for legged robots. Our method takes a full consideration of the differences between legged robots and wheeled robots. Firstly, an on-line extrinsic calibration method is proposed to calculate the camera coordinate and the world coordinate system. Then, a real-time low-computation cost human-following method utilizing RGBD cameras and 3D LIDAR is proposed. The robot motion considers tracking the leading person while avoiding obstacles. Furthermore, a dynamic alternating tripod trotting gait is developed to control the robot to follow the leading person. Finally, the method is implemented and tested on a hexapod robot Qingzhui with indoor and outdoor experiments. The framework proposed in this paper can be a valuable reference for other legged robots when operated in outdoor environments. (C) 2021 Elsevier B.V. All rights reserved.