论文标题
不规则地形建模的弯曲贴片映射和跟踪：应用于双皮亚机器人脚部放置
Curved patch mapping and tracking for irregular terrain modeling: Application to bipedal robot foot placement
论文作者
论文摘要
腿部机器人在非结构化的自然地形下运行时需要与不规则的表面接触。代表和感知这些领域以推理机器人与周围环境之间的潜在接触，这在很大程度上仍然是一个空旷的问题。本文介绍了一个新的框架，用于建模和绘制局部粗糙的地形表面，以进行诸如双皮亚机器人脚部放置之类的任务。该系统可实时地在RGB-D和IMU传感器的数据上实时运行。我们介绍了一组参数化的补丁模型和一组算法，以将它们拟合到环境中。潜在的接触被识别为与机器人脚鞋底大致相同的有界弯曲斑块。这包括稀疏的种子点采样，点云搜索以及补丁拟合和验证。我们还提出了一个映射和跟踪系统，其中贴片在机器人移动时将贴片保持在机器人周围的本地空间地图中。引入了以生物启发的抽样算法找到显着的触点。我们使用多个深度数据重建局部点云，包括用于空间跟踪的密集体积融合层。我们对在岩石上执行脚部位置的小型机器人进行了实验结果，该机器人实现了3D Foothold感知系统，该机器人使用了开发的补丁映射和跟踪框架。
Legged robots need to make contact with irregular surfaces, when operating in unstructured natural terrains. Representing and perceiving these areas to reason about potential contact between a robot and its surrounding environment, is still largely an open problem. This paper introduces a new framework to model and map local rough terrain surfaces, for tasks such as bipedal robot foot placement. The system operates in real-time, on data from an RGB-D and an IMU sensor. We introduce a set of parametrized patch models and an algorithm to fit them in the environment. Potential contacts are identified as bounded curved patches of approximately the same size as the robot's foot sole. This includes sparse seed point sampling, point cloud neighborhood search, and patch fitting and validation. We also present a mapping and tracking system, where patches are maintained in a local spatial map around the robot as it moves. A bio-inspired sampling algorithm is introduced for finding salient contacts. We include a dense volumetric fusion layer for spatiotemporally tracking, using multiple depth data to reconstruct a local point cloud. We present experimental results on a mini-biped robot that performs foot placements on rocks, implementing a 3D foothold perception system, that uses the developed patch mapping and tracking framework.
