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A Universal Footstep Planning Methodology for Continuous Walking in Challenging Terrain Applicable to Different Types of Legged Robots

Stumpf, Alexander ; Stryk, Oskar von (2022)
A Universal Footstep Planning Methodology for Continuous Walking in Challenging Terrain Applicable to Different Types of Legged Robots.
IEEE International Conference on Robotics and Automation (ICRA). Philadelphia, USA (23.-27.05.2022)
doi: 10.26083/tuprints-00021493
Conference or Workshop Item, Secondary publication, Postprint

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Item Type: Conference or Workshop Item
Type of entry: Secondary publication
Title: A Universal Footstep Planning Methodology for Continuous Walking in Challenging Terrain Applicable to Different Types of Legged Robots
Language: English
Date: 2022
Place of Publication: Darmstadt
Year of primary publication: 2022
Publisher: IEEE
Collation: 8 Seiten
Event Title: IEEE International Conference on Robotics and Automation (ICRA)
Event Location: Philadelphia, USA
Event Dates: 23.-27.05.2022
DOI: 10.26083/tuprints-00021493
Corresponding Links:
Origin: Secondary publication
Abstract:

In recent years, the capabilities of legged locomotion controllers have been significantly advanced enabling them to traverse basic types of uneven terrain without visual perception. However, safely and autonomously traversing longer distances over difficult uneven terrain requires appropriate motion planning using online collected environmental knowledge. In this paper, we present such a novel methodology for generic closed-loop preceding horizon footstep planning that enables legged robots equipped with capable locomotion controllers to autonomously traverse previously unknown terrain while continuously walking long distances. Hereby, our approach addresses the challenge of online terrain perception and soft real-time footstep planning. The proposed new formulation of the search-based planning problem makes no specific assumptions about the robot kinematics (e.g. number of legs) or the used locomotion control schemes. Therefore, it can be applied to a broad range of different types of legged robots. Unlike current methods, the proposed new framework can optionally consider the floating base as part of the state-space. It is possible to configure the complexity of the planner online, from efficiently solving tasks in flat terrain to using non-contiguous contacts in highly challenging terrain. Finally, the presented methodology is successfully applied and evaluated in virtual and real experiments on state of the art bipedal, quadrupedal, and a novel eight-legged robot.

Status: Postprint
URN: urn:nbn:de:tuda-tuprints-214931
Classification DDC: 000 Generalities, computers, information > 004 Computer science
Divisions: 20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 24 Nov 2022 13:04
Last Modified: 25 Nov 2022 07:09
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/21493
PPN: 50205218X
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