This paper proposes a novel continuous footholds optimization method for legged robots to expand their walking ability on complex terrains.The algorithm can efficiently run onboard and online by using terrain percepti...This paper proposes a novel continuous footholds optimization method for legged robots to expand their walking ability on complex terrains.The algorithm can efficiently run onboard and online by using terrain perception information to protect the robot against slipping or tripping on the edge of obstacles,and to improve its stability and safety when walking on complex terrain.By relying on the depth camera installed on the robot and obtaining the terrain heightmap,the algorithm converts the discrete grid heightmap into a continuous costmap.Then,it constructs an optimization function combined with the robot’s state information to select the next footholds and generate the motion trajectory to control the robot’s locomotion.Compared with most existing footholds selection algorithms that rely on discrete enumeration search,as far as we know,the proposed algorithm is the first to use a continuous optimization method.We successfully implemented the algorithm on a hexapod robot,and verified its feasibility in a walking experiment on a complex terrain.展开更多
You drive up to the counter, roll down your car's window and place an order for a double cheeseburger and fries. Minutes later you've paid and collected your very fast food, rolled up your window and driven of...You drive up to the counter, roll down your car's window and place an order for a double cheeseburger and fries. Minutes later you've paid and collected your very fast food, rolled up your window and driven off-and your feet have not even touched the ground.展开更多
With the successful launch of Tiangong-1 (Heavenly Palace-1) unmanned module on September 29,China took a significant step forward in realizing its ambitions in space.China’s manned space program consists of three st...With the successful launch of Tiangong-1 (Heavenly Palace-1) unmanned module on September 29,China took a significant step forward in realizing its ambitions in space.China’s manned space program consists of three steps.The first step,to send an astronaut into space,was achieved in 2003.展开更多
基金supported by the National Key R&D Program of China(Grant No.2021YFF0306202).
文摘This paper proposes a novel continuous footholds optimization method for legged robots to expand their walking ability on complex terrains.The algorithm can efficiently run onboard and online by using terrain perception information to protect the robot against slipping or tripping on the edge of obstacles,and to improve its stability and safety when walking on complex terrain.By relying on the depth camera installed on the robot and obtaining the terrain heightmap,the algorithm converts the discrete grid heightmap into a continuous costmap.Then,it constructs an optimization function combined with the robot’s state information to select the next footholds and generate the motion trajectory to control the robot’s locomotion.Compared with most existing footholds selection algorithms that rely on discrete enumeration search,as far as we know,the proposed algorithm is the first to use a continuous optimization method.We successfully implemented the algorithm on a hexapod robot,and verified its feasibility in a walking experiment on a complex terrain.
文摘You drive up to the counter, roll down your car's window and place an order for a double cheeseburger and fries. Minutes later you've paid and collected your very fast food, rolled up your window and driven off-and your feet have not even touched the ground.
文摘With the successful launch of Tiangong-1 (Heavenly Palace-1) unmanned module on September 29,China took a significant step forward in realizing its ambitions in space.China’s manned space program consists of three steps.The first step,to send an astronaut into space,was achieved in 2003.
