Perceptive Locomotion in Rough Terrain – Online Foothold Optimization
نویسندگان
چکیده
منابع مشابه
Optimization and learning for rough terrain legged locomotion
We present a novel approach to legged locomotion over rough terrain that is thoroughly rooted in optimization. This approach relies on a hierarchy of fast, anytime algorithms to plan a set of footholds, along with the dynamic body motions required to execute them. Components within the planning framework coordinate to exchange plans, cost-to-go estimates, and “certificates” that ensure the outp...
متن کاملInnovative design for wheeled locomotion in rough terrain
In our paper we present an innovative locomotion concept for rough terrain based on six motorized wheels. Using rhombus configuration, the rover named Shrimp has a steering wheel in the front and the rear, and two wheels arranged on a bogie on each side. The front wheel has a spring suspension to guarantee optimal ground contact of all wheels at any time. The steering of the rover is realized b...
متن کاملJumping robots: a biomimetic solution to locomotion across rough terrain.
This paper introduces jumping robots as a means to traverse rough terrain; such terrain can pose problems for traditional wheeled, tracked and legged designs. The diversity of jumping mechanisms found in nature is explored to support the theory that jumping is a desirable ability for a robot locomotion system to incorporate, and then the size-related constraints are determined from first princi...
متن کاملViscosity-based Height Reflex for Quadrupedal Locomotion on Rough Terrain
Legged robots are meant to traverse unstructured environments. In some cases, high steps (level changes) can pose significant challenges. These terrain features can be successfully addressed by whole body optimization when a map of the environment is available. Despite recent advances in this field [8], optimal planning is still far from being realized in real time, due to the complexity of the...
متن کاملAdaptive Foothold Selection for a Hexapod Robot Walking on Rough Terrain
This paper introduces an adaptive foothold selection algorithm for a legged robot walking on a rough terrain. The proposed algorithm searches for the best footholds to prevent slippages. It uses a known grid map of the surrounding terrain and a polynomial-based approximation method to create a decision surface. The robot learns from experiments, therefore no a priori expert’s knowledge is requi...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2020
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2020.3007427