Responsive navigation of a biped robot that takes into account terrain, foot-reachability and capturability
Responsive navigation of a biped robot that takes into account terrain, foot-reachability and capturability
复制标题
双足机器人的响应式导航，考虑地形、足部可达性和捕获性
DOI：
10.1080/01691864.2021.1896382
复制
发表时间：
2021
影响因子：
2
通讯作者：
Sugihara T.
中科院分区：
文献类型：
--
作者：
Yamamoto T.;Sugihara T.
提出了一种鲁棒可移动导航的控制结构，该结构同时考虑了在动态情况下的地形可穿越性、脚可到达性和可捕获性。它包括在线地图地形和快速决定脚的位置。对于前者，提出了一种包含高程、法线方向和测量标准差的栅格地图，称为随机高程法线栅格（ENG）地图。它随着深度传感器信息在每个周期中的到来而递增地更新。每个网格的可遍历性可以根据相关信息轻松检查。后者站在典型的双足轨道（CBT）上，这是一对脚跟踪的连续路径。它是沿ENG图上的标称无碰撞路径沿着绘制的。从脚的可达性的角度来看，在下一步最有效的脚的位置被选择在他们作为初始候选人，周围的一个可行的位置，容纳通过广度优先搜索的遍历性和捕获性。将上述结构与基于终端可捕获性的脚引导控制器相结合，实现了一个自主的双足移动系统。通过计算机仿真验证了该方法的有效性。
A control architecture for robust biped navigation that takes into account traversability on terrain, foot-reachability, and capturability all at once in dynamic situations is proposed. It consists of online mapping of terrain and quick decision of foot placement. A grid map with elevation, normal direction and the standard deviation of measurement is proposed for the former and is named the stochastic Elevation-and-Normal Grid (ENG) map. It is incrementally updated as depth sensor information comes in every cycle. The traversability of each grid can be easily checked based on the associated information. The latter stands upon the canonical biped track (CBT), which is a pair of continuous paths that the feet track. It is drawn along a nominal collision-free path on the ENG map. The most efficient foot placement at the next step from the viewpoint of the foot-reachability is chosen on them as the initial candidate, around which a feasible placement accommodated with traversability and capturability is found by the breadth-first search. An autonomous biped locomotion system is completed by combining the above architecture with a foot-guided controller based on the terminal capturability. The efficacy of the proposed method was validated through some computer simulations.