Name
Abstract | ||
|---|---|---|
Legged robots can outperform wheeled machines for most navigation tasks across unknown and rough terrains. For such tasks, visual feedback is a fundamental asset to provide robots with terrain awareness. However, robust dynamic locomotion on difficult terrains with real-time performance guarantees remains a challenge. We present here a real-time, dynamic foothold adaptation strategy based on visual feedback. Our method adjusts the landing position of the feet in a fully reactive manner, using only on-board computers and sensors. The correction is computed and executed continuously along the swing phase trajectory of each leg. To efficiently adapt the landing position, we implement a self-supervised foothold classifier based on a convolutional neural network. Our method results in an up to 200 times faster computation with respect to the full-blown heuristics. Our goal is to react to visual stimuli from the environment, bridging the gap between blind reactive locomotion and purely vision-based planning strategies. We assess the performance of our method on the dynamic quadruped robot HyQ, executing static and dynamic gaits (at speeds up to 0.5 m/s) in both simulated and real scenarios; the benefit of safe foothold adaptation is clearly demonstrated by the overall robot behavior. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/LRA.2019.2899434 | IEEE ROBOTICS AND AUTOMATION LETTERS |
Keywords | Field | DocType |
Legged Robots, Reactive and Sensor-Based Planning, Deep Learning in Robotics and Automation | Gait,Visualization,Convolutional neural network,Control engineering,Heuristics,Engineering,Behavior-based robotics,Robot,Trajectory,Computation | Journal |
Volume | Issue | ISSN |
4 | 2 | 2377-3766 |
Citations | PageRank | References |
0 | 0.34 | 9 |
Authors | ||
8 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Octavio Antonio Villarreal Magana | 1 | 0 | 0.34 |
| Victor Barasuol | 2 | 88 | 11.21 |
| Marco Camurri | 3 | 13 | 6.05 |
| Luca Franceschi | 4 | 8 | 1.79 |
| Michele Focchi | 5 | 104 | 13.88 |
| Massimiliano Pontil | 6 | 5820 | 472.96 |
| Darwin G. Caldwell | 7 | 39 | 5.43 |
| Claudio Semini | 8 | 6 | 1.47 |