Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots
dc.contributor.author
Jelavic, Edo
dc.contributor.author
Farshidian, Farbod
dc.contributor.author
Hutter, Marco
dc.date.accessioned
2021-10-27T09:23:24Z
dc.date.available
2021-04-05T20:33:00Z
dc.date.available
2021-04-06T09:31:56Z
dc.date.available
2021-07-29T10:20:31Z
dc.date.available
2021-08-03T08:29:00Z
dc.date.available
2021-10-27T09:23:24Z
dc.date.issued
2021
dc.identifier.isbn
978-1-7281-9077-8
en_US
dc.identifier.isbn
978-1-7281-9078-5
en_US
dc.identifier.other
10.1109/ICRA48506.2021.9560731
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/477441
dc.identifier.doi
10.3929/ethz-b-000477441
dc.description.abstract
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and optimization-based planning approach that can cope with challenging terrain. The sampling-based stage computes whole-body configurations and contact schedule, which speeds up the optimization convergence. The optimization-based stage ensures that all the system constraints, such as nonholonomic rolling constraints, are satisfied. The evaluations show the importance of good initial guesses for optimization. Furthermore, they suggest that terrain/collision (avoidance) constraints are more challenging than the robot model’s constraints. Lastly, we extend the optimization to handle general terrain representations in the form of elevation maps.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.title
Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
dc.date.published
2021-10-18
ethz.book.title
2021 IEEE International Conference on Robotics and Automation (ICRA)
en_US
ethz.pages.start
8366
en_US
ethz.pages.end
8372
en_US
ethz.size
7 p.
en_US
ethz.version.deposit
acceptedVersion
en_US
ethz.event
2021 IEEE International Conference on Robotics and Automation (ICRA 2021)
en_US
ethz.event.location
Xi’an, China
en_US
ethz.event.date
May 30 – June 5, 2021
en_US
ethz.grant
Perceptive Dynamic Locomotion on Rough Terrain
en_US
ethz.grant
Learning Mobility for Real Legged Robots
en_US
ethz.identifier.wos
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02100 - Dep. Architektur / Dep. of Architecture::02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
en_US
ethz.tag
RSL
en_US
ethz.tag
dfab
en_US
ethz.tag
SNF
en_US
ethz.grant.agreementno
188596
ethz.grant.agreementno
852044
ethz.grant.agreementno
188596
ethz.grant.agreementno
852044
ethz.grant.fundername
SNF
ethz.grant.fundername
EC
ethz.grant.fundername
SNF
ethz.grant.fundername
EC
ethz.grant.funderDoi
10.13039/501100001711
ethz.grant.funderDoi
10.13039/501100000780
ethz.grant.funderDoi
10.13039/501100001711
ethz.grant.funderDoi
10.13039/501100000780
ethz.grant.program
H2020
ethz.grant.program
H2020
ethz.grant.program
Projekte MINT
ethz.date.deposited
2021-04-05T20:33:09Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2021-07-29T10:20:37Z
ethz.rosetta.lastUpdated
2023-02-06T22:46:32Z
ethz.rosetta.versionExported
true
ethz.COinS
ctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.atitle=Combined%20Sampling%20and%20Optimization%20Based%20Planning%20for%20Legged-Wheeled%20Robots&rft.date=2021&rft.spage=8366&rft.epage=8372&rft.au=Jelavic,%20Edo&Farshidian,%20Farbod&Hutter,%20Marco&rft.isbn=978-1-7281-9077-8&978-1-7281-9078-5&rft.genre=proceeding&rft_id=info:doi/10.1109/ICRA48506.2021.9560731&rft.btitle=2021%20IEEE%20International%20Conference%20on%20Robotics%20and%20Automation%20(ICRA)
Dateien zu diesem Eintrag
Publikationstyp
-
Conference Paper [35181]