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• W4313598692 abstract "We propose and experimentally demonstrate a reactive planning system for bipedal robots on unexplored, challenging terrain. The system includes: a multilayer local map for assessing traversability; an anytime omnidirectional control Lyapunov function for use with a rapidly exploring random tree star (RRT*) that generates a vector field for specifying motion between nodes; a subgoal finder when the final goal is outside of the current map; and a finite-state machine to handle high-level mission decisions. The system also includes a reactive thread that copes with robot deviations via a vector field, defined by a closed-loop feedback policy. The vector field provides real-time control commands to the robot's gait controller as a function of instantaneous robot pose. The system is evaluated on various challenging outdoor terrains and cluttered indoor scenes in both simulation and experiment on Cassie Blue, a bipedal robot with 20 degrees of freedom. All implementations are coded in C++ with the robot operating system and are available at <uri xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>https://github.com/UMich-BipedLab/CLF_reactive_planning_system</uri> ." @default.
• W4313598692 created "2023-01-06" @default.
• W4313598692 creator A5037697344 @default.
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• W4313598692 date "2023-06-01" @default.
• W4313598692 modified "2023-10-05" @default.
• W4313598692 title "Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain" @default.
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• W4313598692 doi "https://doi.org/10.1109/tro.2022.3228713" @default.
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