考虑约束和滑移评价的足式机器人立足点选择

Yufei Liu, Lei Jiang, C. Tian, B. Xing, Zhirui Wang, Bo Su, Tong Yan, Liang Ding, Haibo Gao
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引用次数: 0

摘要

通过在规划落脚点和机器人运动时考虑环境和控制约束模型,可以实现在崎岖地形上行走的腿式机器人。提出了基于动力学模型的三自由度足部地形滑移评价模型。作者评估了局部高程图上每个单元的几何特征,检查了滑移状态约束和运动学约束。然后,我们采用强化学习和模仿学习来建立局部高程图、机器人状态和机器人行为之间的关系。该方法可以根据高程图上的几何特征选择落脚点,确定机器人的状态。实验是在模拟和真实机器人平台上对在崎岖地形上行走的有腿机器人进行的。实验结果证明了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Foothold Selection Considering Constraint and Slippage Evaluation for Legged Robots
Legged robots over a rugged terrain can be accomplished by taking the environment and control constraint models into account when planning foothold and robot movements. In this paper, the foot-terrain slippage evaluation model for 3-DOF leg based on dynamics model is proposed. The authors evaluate the geometrical characteristics of each cell on the local elevation map, checks slippage state constraints and kinematic constraints. Then, we employ reinforcement learning and imitation learning to develop the relationship between the local elevation map, robot state, and robot behavior. The method can help to select the foothold considered geometrical characteristics on the elevation map and the robot state can be determined. The experiments were carried out on legged robots walking over rough terrain in both simulation and real robotic platforms. And the experimental results have demonstrated the effectiveness of the proposed method.
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