Journal article
RoLoMa: robust loco-manipulation for quadruped robots with arms
- Abstract:
- Deployment of robotic systems in the real world requires a certain level of robustness in order to deal with uncertainty factors, such as mismatches in the dynamics model, noise in sensor readings, and communication delays. Some approaches tackle these issues reactively at the control stage. However, regardless of the controller, online motion execution can only be as robust as the system capabilities allow at any given state. This is why it is important to have good motion plans to begin with, where robustness is considered proactively. To this end, we propose a metric (derived from first principles) for representing robustness against external disturbances. We then use this metric within our trajectory optimization framework for solving complex loco-manipulation tasks. Through our experiments, we show that trajectories generated using our approach can resist a greater range of forces originating from any possible direction. By using our method, we can compute trajectories that solve tasks as effectively as before, with the added benefit of being able to counteract stronger disturbances in worst-case scenarios.
- Publication status:
- Published
- Peer review status:
- Peer reviewed
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(Preview, Version of record, pdf, 2.4MB, Terms of use)
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- Publisher copy:
- 10.1007/s10514-023-10146-0
Authors
- Publisher:
- Springer
- Journal:
- Autonomous Robots More from this journal
- Volume:
- 47
- Issue:
- 8
- Pages:
- 1463–1481
- Publication date:
- 2023-10-15
- Acceptance date:
- 2023-09-26
- DOI:
- EISSN:
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1573-7527
- ISSN:
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0929-5593
- Language:
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English
- Keywords:
- Pubs id:
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1553314
- Local pid:
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pubs:1553314
- Deposit date:
-
2023-12-20
Terms of use
- Copyright holder:
- Ferrolho et al.
- Copyright date:
- 2023
- Rights statement:
- © The Author(s) 2023. Open Access. This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder.
- Licence:
- CC Attribution (CC BY)
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