四足歩行のための単発足場選択と制約評価
Single-shot Foothold Selection and Constraint Evaluation for Quadruped Locomotion
地形の高さマップからCNNで各候補足場の良さを評価し、運動学的制約や衝突も同時にチェックすることで、四足ロボットが不整地で最適な足場を10msで選べる手法を提案した。
著者: D. Belter, J. Bednarek, H. -C. Lin, G. Xin, M. Mistry
分類: cs.RO
原文アブストラクト
In this paper, we propose a method for selecting the optimal footholds for legged systems. The goal of the proposed method is to find the best foothold for the swing leg on a local elevation map. We apply the Convolutional Neural Network to learn the relationship between the local elevation map and the quality of potential footholds. The proposed network evaluates the geometrical characteristics of each cell on the elevation map, checks kinematic constraints and collisions. During execution time, the controller obtains the qualitative measurement of each potential foothold from the neural model. This method allows to evaluate hundreds of potential footholds and check multiple constraints in a single step which takes 10~ms on a standard computer without GPGPU. The experiments were carried out on a quadruped robot walking over rough terrain in both simulation and real robotic platforms.