Versatile and robust bipedal walking in unknown environments: real-time collision avoidance and disturbance rejection
Versatile and robust bipedal walking in unknown environments: real-time collision avoidance and disturbance rejection
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DOI：
10.1007/s10514-019-09838-3
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发表时间：
2019-12-01
影响因子：
3.5
通讯作者：
Buschmann, Thomas
中科院分区：
文献类型：
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作者：
Hildebrandt, Arne-Christoph;Wittmann, Robert;Buschmann, Thomas
在具有障碍物、变化的地面成分和外部干扰的复杂环境中的自主导航需要同时进行实时运动生成和稳定。在本文中，我们提出并评估了一种策略，拒绝外部干扰和实时运动生成的障碍物和非平坦的地面。我们提出了不同的解决方案相结合的相关算法，并在模拟中进行分析，我们的机器人萝拉在实验中验证了有前途的方法。我们发现一个分层的方法是有效的解决这些复杂的运动生成问题，因为它允许我们将问题分解成子问题，可以在不同的级别分别处理。这使得该方法适用于实时应用，并且对扰动和错误具有鲁棒性。我们的研究结果表明，实时运动规划和干扰抑制相结合，可以提高腿式机器人的自主性。
Autonomous navigation in complex environments featuring obstacles, varying ground compositions, and external disturbances requires real-time motion generation and stabilization simultaneously. In this paper, we present and evaluate a strategy for rejection of external disturbances and real-time motion generation in the presence of obstacles and non-flat ground. We propose different solutions for combining the associated algorithms and analyze them in simulations The promising method is validated in experiments with our robot Lola. We found a hierarchical approach to be effective for solving these complex motion generation problems, because it allows us to decompose the problem into sub-problems that can be tackled separately at different levels. This makes the approach suitable for real-time applications and robust against perturbations and errors. Our results show that real-time motion planning and disturbance rejection can be combined to improve the autonomy of legged robots.