Abstract
Autonomous navigation in complex environments featuring obstacles, varying ground compositions, and external disturbances requires real-time motion generation and stabilization simultaneously. In this paper, we present and evaluate a strategy for rejection of external disturbances and real-time motion generation in the presence of obstacles and non-flat ground. We propose different solutions for combining the associated algorithms and analyze them in simulations The promising method is validated in experiments with our robot Lola. We found a hierarchical approach to be effective for solving these complex motion generation problems, because it allows us to decompose the problem into sub-problems that can be tackled separately at different levels. This makes the approach suitable for real-time applications and robust against perturbations and errors. Our results show that real-time motion planning and disturbance rejection can be combined to improve the autonomy of legged robots.
Originalsprache | Englisch |
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Seiten (von - bis) | 1957-1976 |
Seitenumfang | 20 |
Fachzeitschrift | Autonomous Robots |
Jahrgang | 43 |
Ausgabenummer | 8 |
DOIs | |
Publikationsstatus | Veröffentlicht - 1 Dez. 2019 |