论文标题
使用六脚架机器人的自主障碍物签署
Autonomous Obstacle Legipulation with a Hexapod Robot
论文作者
论文摘要
在狭窄的环境中穿越的腿机器人可能会发现其唯一的路径被障碍所阻挡。在障碍物是可移动的情况下，多脚的机器人可以使用腿来操纵障碍物，以使其继续前进。我们提出了一种方法，可以自主生成检测到的障碍物的操纵轨迹的方法。使用RGB-D传感器作为输入，从环境中提取障碍物并过滤以提供操纵算法的关键接触点，以计算轨迹以将障碍物从路径移出。在30度的自由度六角形机器人上进行的实验显示了该算法在使用前腿在3D环境中操纵一系列障碍方面的有效性。
Legged robots traversing in confined environments could find their only path is blocked by obstacles. In circumstances where the obstacles are movable, a multilegged robot can manipulate the obstacles using its legs to allow it to continue on its path. We present a method for a hexapod robot to autonomously generate manipulation trajectories for detected obstacles. Using a RGB-D sensor as input, the obstacle is extracted from the environment and filtered to provide key contact points for the manipulation algorithm to calculate a trajectory to move the obstacle out of the path. Experiments on a 30 degree of freedom hexapod robot show the effectiveness of the algorithm in manipulating a range of obstacles in a 3D environment using its front legs.
