Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles

• URL: http://arxiv.org/abs/2107.00773v1
• Date: Thu, 1 Jul 2021 23:40:30 GMT
• Title: Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles
• Authors: Scott Gilroy, Derek Lau, Lizhi Yang, Ed Izaguirre, Kristen Biermayer, Anxing Xiao, Mengti Sun, Ayush Agrawal, Jun Zeng, Zhongyu Li, Koushil Sreenath
• Abstract summary: This paper presents an end-to-end navigation framework for quadrupedal robots. To obtain a dynamic jumping maneuver while avoiding obstacles, dynamically-feasible trajectories are optimized offline. The framework is experimentally deployed and validated on a quadrupedal robot, a Mini Cheetah.
• Score: 3.8651239621657654
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Quadrupeds are strong candidates for navigating challenging environments because of their agile and dynamic designs. This paper presents a methodology that extends the range of exploration for quadrupedal robots by creating an end-to-end navigation framework that exploits walking and jumping modes. To obtain a dynamic jumping maneuver while avoiding obstacles, dynamically-feasible trajectories are optimized offline through collocation-based optimization where safety constraints are imposed. Such optimization schematic allows the robot to jump through window-shaped obstacles by considering both obstacles in the air and on the ground. The resulted jumping mode is utilized in an autonomous navigation pipeline that leverages a search-based global planner and a local planner to enable the robot to reach the goal location by walking. A state machine together with a decision making strategy allows the system to switch behaviors between walking around obstacles or jumping through them. The proposed framework is experimentally deployed and validated on a quadrupedal robot, a Mini Cheetah, to enable the robot to autonomously navigate through an environment while avoiding obstacles and jumping over a maximum height of 13 cm to pass through a window-shaped opening in order to reach its goal.

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