Collision-Free MPC for Legged Robots in Static and Dynamic Scenes

03/25/2021
by   Magnus Gaertner, et al.
0

We present a model predictive controller (MPC) that automatically discovers collision-free locomotion while simultaneously taking into account the system dynamics, friction constraints, and kinematic limitations. A relaxed barrier function is added to the optimization's cost function, leading to collision avoidance behavior without increasing the problem's computational complexity. Our holistic approach does not require any heuristics and enables legged robots to find whole-body motions in the presence of static and dynamic obstacles. We use a dynamically generated euclidean signed distance field for static collision checking. Collision checking for dynamic obstacles is modeled with moving cylinders, increasing the responsiveness to fast-moving agents. Furthermore, we include a Kalman filter motion prediction for moving obstacles into our receding horizon planning, enabling the robot to anticipate possible future collisions. Our experiments demonstrate collision-free motions on a quadrupedal robot in challenging indoor environments. The robot handles complex scenes like overhanging obstacles and dynamic agents by exploring motions at the robot's dynamic and kinematic limits.

READ FULL TEXT

page 1

page 4

page 5

research
02/24/2022

A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation

In this paper, we present a real-time whole-body planner for collision-f...
research
07/09/2018

Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles

We present a sampling-based kinodynamic planning framework for a bipedal...
research
04/30/2022

A Sequential MPC Approach to Reactive Planning for Bipedal Robots

This paper presents a sequential Model Predictive Control (MPC) approach...
research
07/12/2019

NH-TTC: A gradient-based framework for generalized anticipatory collision avoidance

We propose NH-TTC, a general method for fast, anticipatory collision avo...
research
10/13/2020

Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots

The additional degrees of freedom and missing counterparts in nature mak...
research
09/16/2021

Fast-Replanning Motion Control with Short-Term Aborting A*

Autonomously driving vehicles must be able to navigate in dynamic and un...
research
04/08/2019

Collision-aware Task Assignment for Multi-Robot Systems

We propose a novel formulation of the collision-aware task assignment (C...

Please sign up or login with your details

Forgot password? Click here to reset