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Versatile and robust bipedal walking in unknown environments: real-time collision avoidance and disturbance rejection

Versatile and robust bipedal walking in unknown environments: real-time collision avoidance and... Autonomous navigation in complex environments featuring obstacles, varying ground compositions, and external disturbances requires real-time motion generation and stabilization simultaneously. In this paper, we present and evaluate a strategy for rejection of external disturbances and real-time motion generation in the presence of obstacles and non-flat ground. We propose different solutions for combining the associated algorithms and analyze them in simulations The promising method is validated in experiments with our robot Lola. We found a hierarchical approach to be effective for solving these complex motion generation problems, because it allows us to decompose the problem into sub-problems that can be tackled separately at different levels. This makes the approach suitable for real-time applications and robust against perturbations and errors. Our results show that real-time motion planning and disturbance rejection can be combined to improve the autonomy of legged robots. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Autonomous Robots Springer Journals

Versatile and robust bipedal walking in unknown environments: real-time collision avoidance and disturbance rejection

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References (64)

Publisher
Springer Journals
Copyright
Copyright © 2019 by Springer Science+Business Media, LLC, part of Springer Nature
Subject
Engineering; Robotics and Automation; Artificial Intelligence; Computer Imaging, Vision, Pattern Recognition and Graphics; Control, Robotics, Mechatronics
ISSN
0929-5593
eISSN
1573-7527
DOI
10.1007/s10514-019-09838-3
Publisher site
See Article on Publisher Site

Abstract

Autonomous navigation in complex environments featuring obstacles, varying ground compositions, and external disturbances requires real-time motion generation and stabilization simultaneously. In this paper, we present and evaluate a strategy for rejection of external disturbances and real-time motion generation in the presence of obstacles and non-flat ground. We propose different solutions for combining the associated algorithms and analyze them in simulations The promising method is validated in experiments with our robot Lola. We found a hierarchical approach to be effective for solving these complex motion generation problems, because it allows us to decompose the problem into sub-problems that can be tackled separately at different levels. This makes the approach suitable for real-time applications and robust against perturbations and errors. Our results show that real-time motion planning and disturbance rejection can be combined to improve the autonomy of legged robots.

Journal

Autonomous Robots – Springer Journals

Published: Feb 26, 2019

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