Informed Sampling-Based Planning to Enable Legged Robots to Safely Negotiate Permeable Obstacles
Informed Sampling-Based Planning to Enable Legged Robots to Safely Negotiate Permeable Obstacles
复制标题
基于采样的知情规划使腿式机器人能够安全地通过可渗透的障碍物
DOI：
10.1115/1.4055625
复制
发表时间：
2023
期刊：
影响因子：
--
通讯作者：
Gupta, Satyandra K.
中科院分区：
文献类型：
--
作者：
Chen, Yiyu;Lian, Lingchen;Hsieh, Yu-Hsiu;Nguyen, Quan;Gupta, Satyandra K.
腿式机器人具有穿越粗糙地形和谈判杂乱环境的独特能力。腿式机器人控制的最新发展使其能够在粗糙地形上进行鲁棒运动。然而，这些方法主要集中在保持机器人身体的平衡上。在这项工作中，我们感兴趣的是利用机器人的整个身体通过可渗透的障碍物（例如，小的受限开口），具有高度、宽度和地形限制。本文提出了一个规划框架，腿式机器人操纵他们的身体和腿，通过可渗透的障碍物进行无碰撞运动。该规划器采用四足步态约束，偏置方案，并同时身体和立足点运动规划的安全裕度。我们执行明智的采样的基础上的步态约束的身体姿势和摆动脚的位置，同时确保稳定性和避免碰撞。根据地形和接触约束规划立足点。我们也整合规划器与机器人控制，以成功执行规划的轨迹。我们验证了我们的方法在高保真仿真和硬件实验上的Unitree A1机器人导航通过不同的代表性的可渗透的障碍物。
Legged robots have a unique capability of traversing rough terrains and negotiating cluttered environments. Recent control development of legged robots has enabled robust locomotion on rough terrains. However, such approaches mainly focus on maintaining balance for the robot body. In this work, we are interested in leveraging the whole body of the robot to pass through a permeable obstacle (e.g., a small confined opening) with height, width, and terrain constraints. This paper presents a planning framework for legged robots manipulating their body and legs to perform collision-free locomotion through a permeable obstacle. The planner incorporates quadrupedal gait constraint, biasing scheme, and safety margin for the simultaneous body and foothold motion planning. We perform informed sampling for the body poses and swing foot position based on the gait constraint while ensuring stability and collision avoidance. The footholds are planned based on the terrain and the contact constraint. We also integrate the planner with robot control to execute the planned trajectory successfully. We validated our approach in high-fidelity simulation and hardware experiments on the Unitree A1 robot navigating through different representative permeable obstacles.