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A Hybrid Primitive-Based Navigation Planner for the Wheeled-Legged Robot CENTAURO

Authors: Alessio De Luca; Luca Muratore; Nikos G. Tsagarakis;

A Hybrid Primitive-Based Navigation Planner for the Wheeled-Legged Robot CENTAURO

Abstract

Wheeled-legged robots have the potential to navigate in cluttered and irregular scenarios by altering the locomotion modes to adapt to the terrain challenges and effectively reach targeted locations in unstructured spaces. To achieve this functionality, a hybrid locomotion planner is necessary. In this work we present a search-based planner, which explores a set of motion primitives and a 2.5D traversability map extracted from the environment to generate navigation plans for the hybrid mobility robot CENTAURO. The planner explores the map from the current robot position to the goal location requested by the user, considering the most appropriate composition and tuning of locomotion primitives to build up a feasible plan, which is then executed by the robot. The available primitives are prioritized and can be easily modified, added or removed through a configuration file. Our approach was evaluated both in simulation and on the real wheeled-legged robot CENTAURO, demonstrating traversing capabilities in cluttered environments with various obstacles.

Country
Italy
Keywords

Sensor-based Control, Motion and Path Plan- ning, Legged Robots

18 references, page 1 of 2

[1] N. Kashiri et al., ”CENTAURO: A Hybrid Locomotion and High Power Resilient Manipulation Platform,” in IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1595-1602, April 2019, doi: 10.1109/LRA.2019.2896758.

[2] A. Stentz et al., “Chimp, the CMU highly intelligent mobile platform”, in Journal of Field Robotics, vol. 32, no. 2, pp. 209-228, March 2015, doi: 10.1002/rob.21569.

[3] D. Belter, P. Łabcki and P. Skrzypczyn´ski, ”Estimating terrain elevation maps from sparse and uncertain multi-sensor data,” in IEEE International Conference on Robotics and Biomimetics (ROBIO), 2012, pp. 715-722, doi: 10.1109/ROBIO.2012.6491052.

[4] P. Fankhauser et al., ”Collaborative navigation for flying and walking robots,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, pp. 2859-2866, doi: 10.1109/IROS.2016.7759443.

[5] P. Fankhauser, M. Bjelonic, C. Dario Bellicoso, T. Miki and M. Hutter, ”Robust Rough-Terrain Locomotion with a Quadrupedal Robot,” in IEEE International Conference on Robotics and Automation (ICRA), 2018, pp. 5761-5768, doi: 10.1109/ICRA.2018.8460731.

[6] A. Settimi, D. Caporale, P. Kryczka, M. Ferrati and L. Pallottino, ”Motion primitive based random planning for loco-manipulation tasks,” in IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, pp. 1059-1066, doi: 10.1109/HUMANOIDS.2016.7803402.

[7] Matt Zucker, Sungmoon Joo, Michael X. Grey, Christopher Rasmussen, Eric Huang, Michael Stilman, and Aaron Bobick, ”A General-purpose System for Teleoperation of the DRC-HUBO Humanoid Robot”, in J. Field Robot 32, 3 (May 2015), 336-351. DOI:https://doi.org/10.1002/rob.21570

[8] M. Schwarz, T. Rodehutskors, M. Schreiber and S. Behnke, ”Hybrid driving-stepping locomotion with the wheeled-legged robot Momaro,” in IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 5589-5595, doi: 10.1109/ICRA.2016.7487776.

[9] T. Klamt and S. Behnke, ”Anytime hybrid driving-stepping locomotion planning”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, pp. 4444-4451, doi: 10.1109/IROS.2017.8206310.

[10] J. Sun, Y. You, X. Zhao, A. H. Adiwahono and C. M. Chew, ”Towards More Possibilities: Motion Planning and Control for Hybrid Locomotion of Wheeled-Legged Robots,” in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 3723-3730, April 2020, doi: 10.1109/LRA.2020.2979626.

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popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
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This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
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impulse
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