Perceptive Locomotion in Rough Terrain – Online Foothold Optimization
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Author / Producer
Date
2020-10
Publication Type
Journal Article
ETH Bibliography
yes
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Abstract
Compared to wheeled vehicles, legged systems have a vast potential to traverse challenging terrain. To exploit the full potential, it is crucial to tightly integrate terrain perception for foothold planning. We present a hierarchical locomotion planner together with a foothold optimizer that finds locally optimal footholds within an elevation map. The map is generated in real-time from on-board depth sensors. We further propose a terrain-aware contact schedule to deal with actuator velocity limits. We validate the combined locomotion pipeline on our quadrupedal robot ANYmal with a variety of simulated
and real-world experiments. We show that our method can cope with stairs and obstacles of heights up to 33% of the robot’s leg length.
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Publication status
published
External links
Editor
Book title
Journal / series
Volume
5 (4)
Pages / Article No.
5370 - 5376
Publisher
IEEE
Event
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Legged Robots; Motion control; Optimization and Optimal Control; Foothold Optimization; Perceptive Locomotion
Organisational unit
09570 - Hutter, Marco / Hutter, Marco
Notes
Funding
188596 - Perceptive Dynamic Locomotion on Rough Terrain (SNF)
780883 - subTerranean Haptic INvestiGator (EC)
780883 - subTerranean Haptic INvestiGator (EC)