実環境における歩行安定性と移動効率を考慮した２足歩行ロボットの歩行軌道計画

1)我开发了一种算法，根据材料的特性，从所有像素的图像中预测摩擦力及其不确定性。2）我改进了运动规划系统，现在可以考虑能量、稳定性、摩擦力、碰撞和感知的不确定性。这些都是占在脚步和全身运动规划水平由于一个分层架构与预言在较低的水平预测成本在较高的水平。3）我评估了整个系统的真实的机器人和现实的模拟，在不同的地面材料的环境。该系统能够正确识别材料和摩擦力，从而做出智能的脚步规划选择。该研究在IEEE Humanoids会议上发表，并入围最佳口头论文奖。

1) I developed an algorithm to predict friction and its uncertainty from images at all pixels, based on material recognition.2) I improved the motion planning system, which now accounts for energy, stability, friction, collision, and uncertainty in perception. These are accounted for at both footstep and full-body motion planning levels thanks to a hierarchical architecture with oracles at lower levels predicting costs at higher levels.3) I evaluated the whole system on the real robot and in realistic simulations, in environments with different ground materials. The system was able to correctly identify the materials and friction, thus making intelligent footstep planning choices.The research was presented at the IEEE Humanoids conference and was a finalist for the Best Oral Paper award.