先読みMDP計画による四足歩行ロボットの予測的歩容切替
Anticipatory Gait Switching for Quadrupeds via Look-Ahead MDP Planning
地形の高さマップを近・中・遠距離帯に分けてマルコフ過程としてモデル化し、先読みMDPでハードウェア制約を考慮した歩容切替を決定する軽量な歩容監督手法を提案。Unitree Go2で切替遅れや不安定さを低減。
著者: Kelvin Aladum, Justin Peel, Nisar Ahmed
分類: cs.RO
原文アブストラクト
Quadruped robots often switch gaits to traverse mixed terrain safely. Many practical supervisors enforce hardware constraints (e.g., dwell or guard intervals) using a transition handler. However, the switch decision itself is often driven by near-field thresholds, which can delay commitment when rough terrain is only detected shortly before contact in the local height map. We propose a lightweight height-map-only gait supervisor that unifies look-ahead and locomotion constraints in a single decision policy. A robot-centered height map is partitioned into near-, mid-, and far-field bands, each discretized into a terrain class, and band evolution is modeled as a Markov process. Gait selection is cast as a look-ahead Markov Decision Process whose transition model and cost explicitly encode platform-specific switching constraints. Indoor and outdoor experiments on a Unitree Go2 platform show reduced late switching, lower time spent using ineffective gaits on rough terrain, and improved roll stability compared to tuned reactive baselines. Overall, the MDP formulation yields anticipative constraint-aware gait switching that improves robustness without course-specific retuning.