论文标题
多腿机器人通过混合成员凸面计划跳跃的运动动力运动计划
Kinodynamic Motion Planning for Multi-Legged Robot Jumping via Mixed-Integer Convex Program
论文作者
论文摘要
本文提出了一个基于混合构成凸面计划（MICP）的多腿机器人跳跃的运动动力运动计划框架，该计划同时理由质心运动，触点，扳手，扳手和步态序列。此方法唯一地结合了配置空间离散化和可行扳手多层（FWP）的构建，以编码运动学约束，执行器极限，摩擦锥约束和步态测序中的单个MICP。通过现成的数值求解器可以有效地将MICP有效地求解到全局最佳级，并提供高度动态的跳跃运动，而无需初始猜测。仿真和实验结果表明，该提出的方法可以找到可直接在两腿机器人平台上部署的新颖和灵活的操纵，以穿过充满挑战的地形。
This paper proposes a kinodynamic motion planning framework for multi-legged robot jumping based on the mixed-integer convex program (MICP), which simultaneously reasons about centroidal motion, contact points, wrench, and gait sequences. This method uniquely combines configuration space discretization and the construction of feasible wrench polytope (FWP) to encode kinematic constraints, actuator limit, friction cone constraint, and gait sequencing into a single MICP. The MICP could be efficiently solved to the global optimum by off-the-shelf numerical solvers and provide highly dynamic jumping motions without requiring initial guesses. Simulation and experimental results demonstrate that the proposed method could find novel and dexterous maneuvers that are directly deployable on the two-legged robot platform to traverse through challenging terrains.
