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Autonomous Navigation of Underactuated Bipedal Robots in Height-constrained Environments by Zhongyu Li; Jun Zeng; Shuxiao Chen; Koushil Sreenath is a Engineering article available to read on EtoBox.

What is Autonomous Navigation of Underactuated Bipedal Robots in Height-constrained Environments about?

Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its intrinsic dimension by crouching in order to travel underneath height-constrained regions. There are few mobile robots that are capable of handling such a challenge, and bipedal robots provide a solution. However, as bipedal robots have nonlinear and hybrid dynamics, trajectory planning while ensuring dynamic feasibility and safety on these robots is challenging. This paper presents an end-to-end autonomous navigation framework which leverages three layers of planners and a variable walking height controller to enable bipedal robots to safely explore height-constrained environments. A vertically actuated spring-loaded inverted pendulum (vSLIP) model is introduced to capture the robot’s coupled dynamics of planar walking and vertical walking height. This reduced-order model is utilized to optimize for long-term and short-term safe trajectory plans. A variable walking height controller is leveraged to enable the bipedal robot to maintain stable periodic w

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Author

Zhongyu Li; Jun Zeng; Shuxiao Chen; Koushil Sreenath

Publisher

SAGE Publications

Published

2023

Language

EN

Field

Engineering (Physical Sciences)