Real-time Perceptive Motion Control using Control Barrier Functions with Analytical Smoothing for Six-Wheeled-Telescopic-Legged Robot Tachyon 3
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| Main Authors: | , , , , , , |
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| Format: | Preprint |
| Published: |
2023
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| _version_ | 1866909365822291968 |
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| author | Takasugi, Noriaki Kinoshita, Masaya Kamikawa, Yasuhisa Tsuzaki, Ryoichi Sakamoto, Atsushi Kai, Toshimitsu Kawanami, Yasunori |
| author_facet | Takasugi, Noriaki Kinoshita, Masaya Kamikawa, Yasuhisa Tsuzaki, Ryoichi Sakamoto, Atsushi Kai, Toshimitsu Kawanami, Yasunori |
| contents | To achieve safe legged locomotion, it is important to generate motion in real-time considering various constraints in robots and environments. In this study, we propose a lightweight real-time perspective motion control system for the newly developed six-wheeled-telescopic-legged robot, Tachyon 3. In the proposed method, analytically smoothed constraints including Smooth Separating Axis Theorem (Smooth SAT) as a novel higher order differentiable collision detection for 3D shapes is applied to the Control Barrier Function (CBF). The proposed system integrating the CBF achieves online motion generation in a short control cycle of 1 ms that satisfies joint limitations, environmental collision avoidance and safe convex foothold constraints. The efficiency of Smooth SAT is shown from the collision detection time of 1 us or less and the CBF constraint computation time for Tachyon3 of several us. Furthermore, the effectiveness of the proposed system is verified through the stair-climbing motion, integrating online recognition in a simulation and a real machine. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2310_11792 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Real-time Perceptive Motion Control using Control Barrier Functions with Analytical Smoothing for Six-Wheeled-Telescopic-Legged Robot Tachyon 3 Takasugi, Noriaki Kinoshita, Masaya Kamikawa, Yasuhisa Tsuzaki, Ryoichi Sakamoto, Atsushi Kai, Toshimitsu Kawanami, Yasunori Robotics To achieve safe legged locomotion, it is important to generate motion in real-time considering various constraints in robots and environments. In this study, we propose a lightweight real-time perspective motion control system for the newly developed six-wheeled-telescopic-legged robot, Tachyon 3. In the proposed method, analytically smoothed constraints including Smooth Separating Axis Theorem (Smooth SAT) as a novel higher order differentiable collision detection for 3D shapes is applied to the Control Barrier Function (CBF). The proposed system integrating the CBF achieves online motion generation in a short control cycle of 1 ms that satisfies joint limitations, environmental collision avoidance and safe convex foothold constraints. The efficiency of Smooth SAT is shown from the collision detection time of 1 us or less and the CBF constraint computation time for Tachyon3 of several us. Furthermore, the effectiveness of the proposed system is verified through the stair-climbing motion, integrating online recognition in a simulation and a real machine. |
| title | Real-time Perceptive Motion Control using Control Barrier Functions with Analytical Smoothing for Six-Wheeled-Telescopic-Legged Robot Tachyon 3 |
| topic | Robotics |
| url | https://arxiv.org/abs/2310.11792 |