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Autonomous Robots
Erschienen in: Autonomous Robots 8/2019

26.02.2019

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

verfasst von: Arne-Christoph Hildebrandt, Robert Wittmann, Felix Sygulla, Daniel Wahrmann, Daniel Rixen, Thomas Buschmann

Erschienen in: Autonomous Robots | Ausgabe 8/2019

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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.
Vorheriger Artikel Data collection planning with non-zero sensing distance for a budget and curvature constrained unmanned aerial vehicle
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Fußnoten
2
Note, one arbitrary shaped obstacle may be approximated by \(n_{SSV,i}\) convex SSV objects. Here, we reduce all SSV objects of all \(n_O\) obstacles to 2D polytopes without taking into account their belonging to same obstacles. That way, we get only 2D polytopes representing the total of E.
 
3
The following statements are based on the authors’ experience with the IRIS tool, which is available as open source.
 
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Metadaten
Titel
Versatile and robust bipedal walking in unknown environments: real-time collision avoidance and disturbance rejection
verfasst von
Arne-Christoph Hildebrandt
Robert Wittmann
Felix Sygulla
Daniel Wahrmann
Daniel Rixen
Thomas Buschmann
Publikationsdatum
26.02.2019
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 8/2019
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-019-09838-3

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