On-line and On-board Planning and Perception for Quadrupedal Locomotion

Carlos Mastalli (1) , Ioannis Havoutis (1) , Alexander W Winkler (1) , Darwin Caldwell (1) , Claudio Semini (1)

1 IIT - Department of Advanced Robotics

We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a lattice representation together with a set of defined body movement primitives for computing a body action plan. The lattice representation allows us to plan versatile movements that ensure feasibility for every possible plan. To this end, we propose a set of rules that define the footstep search regions and footstep sequence given a body action. We use Anytime Repairing A* (ARA*) search that guarantees bounded sub-optimal plans. Our main contribution is a planning approach that generates on-line versatile movements. Experimental trials demonstrate the performance of our planning approach in a set of challenging terrain conditions. The terrain information and plans are computed on-line and on-board.

Domaines: Robotique [cs.RO]; Vision par ordinateur et reconnaissance de formes [cs.CV]

Carlos Mastalli, Ioannis Havoutis, Alexander W Winkler, Darwin Caldwell, Claudio Semini. On-line and On-board Planning and Perception for Quadrupedal Locomotion. IEEE International Conference of Technologies for Practical Robot Applications (TEPRA), May 2015, Boston, United States. ⟨hal-01661837⟩