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Register a new userContact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner
التواصل التخطيط لروبوت ANYmal الرباعي الأرجل باستخدام مخطط مستند إلى الوصول غير الدوري
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Added by
Mathieu Geisert
Publication date
2019
fields
Informatics Engineering
and research's language is
English
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بالرغم من التقدم الكبير في روبوتيات الأربع أقدام في العقد الماضي، فإن اختيار الاتصالات الجيدة (الأقدام) في البيئات المتشوشة والمتنوعة بشكل كبير لا يزال مشكلة مفتوحة. يبني هذا البحث على النهج الحديث الذي تم استخدامه بنجاح للروبوتات البشرية، ويطبقه على منصتنا الروبوتية؛ روبوت الأربع أقدام ANY-mal. يفصل الخوارزمية المقترحة المشكلة إلى مشكلتين فرعيتين: أولاً، يتم إنشاء مسار دليل للروبوت، ثم يتم إنشاء الاتصالات على هذا المسار. كلا المشاكل الفرعية تعتمد على التقريبات والحيثيات التي تحتاج إلى ضبط. تعد أهم مساهمة هذا العمل في شرح كيفية إعادة ضبط هذه الخوارزمية للعمل مع ANY-mal وإظهار أهمية النهج مع مجموعة متنوعة من الاختبارات في تحليلات ديناميكية واقعية.
Despite the great progress in quadrupedal robotics during the last decade, selecting good contacts (footholds) in highly uneven and cluttered environments still remains an open challenge. This paper builds upon a state-of-the-art approach, already successfully used for humanoid robots, and applies it to our robotic platform; the quadruped robot ANY-mal. The proposed algorithm decouples the problem into two subprob-lems: first a guide trajectory for the robot is generated, then contacts are created along this trajectory. Both subproblems rely on approximations and heuristics that need to be tuned. The main contribution of this work is to explain how this algorithm has been retuned to work with ANY-mal and to show the relevance of the approach with a variety of tests in realistic dynamic simulations.
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