@inproceedings{090390eddb214541aa76aedd38e8900c,
title = "Foothold Selection Considering Constraint and Slippage Evaluation for Legged Robots",
abstract = "Legged robots over a rugged terrain can be accomplished by taking the environment and control constraint models into account when planning foothold and robot movements. In this paper, the foot-terrain slippage evaluation model for 3-DOF leg based on dynamics model is proposed. The authors evaluate the geometrical characteristics of each cell on the local elevation map, checks slippage state constraints and kinematic constraints. Then, we employ reinforcement learning and imitation learning to develop the relationship between the local elevation map, robot state, and robot behavior. The method can help to select the foothold considered geometrical characteristics on the elevation map and the robot state can be determined. The experiments were carried out on legged robots walking over rough terrain in both simulation and real robotic platforms. And the experimental results have demonstrated the effectiveness of the proposed method.",
keywords = "geometrical characteristics, legged robots, reinforcement learning, slippage evaluation model",
author = "Yufei Liu and Lei Jiang and Chong Tian and Boyang Xing and Zhirui Wang and Bo Su and Tong Yan and Liang Ding and Haibo Gao",
note = "Publisher Copyright: Copyright {\textcopyright} 2022 by the International Society for Terrain-Vehicle Systems. All rights reserved.; 11th Asia-Pacific Regional Conference of the International Society for Terrain-Vehicle Systems, ISTVS 2022 ; Conference date: 26-09-2022 Through 28-09-2022",
year = "2022",
doi = "10.56884/ZEES3819",
language = "英语",
series = "Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS",
publisher = "International Society for Terrain-Vehicle Systems",
pages = "45--50",
booktitle = "Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS",
}