Load-bearing Assessment for Safe Locomotion of Quadruped Robots on Collapsing Terrain
🤖 AI Summary
To address instability in quadrupedal robots operating on collapsible terrains—such as rubble fields in search-and-rescue scenarios or loose planetary regolith—caused by insufficient terrain bearing capacity, this paper proposes a proprioception-based online terrain bearing capacity estimation and dynamic gait planning framework. The method integrates joint torque/position feedback-driven terrain probing, model predictive control (MPC), finite-state-machine-based coordination, and stability-constrained dynamic footstep optimization, requiring no external sensors or prior terrain mapping. Its key innovation lies in the first unified, robust integration of load feedback and motion control, enabling real-time collapse-risk identification and adaptive footstep adjustment. Experiments demonstrate significant improvements in traversal safety and success rate on both self-constructed collapsible platforms and real rocky terrain.
Application Category
📝 Abstract
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by integrating terrain probing, load-bearing analysis, motion planning, and control strategies. Unlike traditional methods that rely on specialized sensors or external terrain mapping alone, our approach leverages joint measurements to assess terrain stability without hardware modifications. A Model Predictive Control (MPC) system optimizes robot motion, balancing stability and probing constraints, while a state machine coordinates terrain probing actions, enabling the robot to detect collapsible regions and dynamically adjust its footholds. Experimental results on custom-made collapsing platforms and rocky terrains demonstrate the framework's ability to traverse collapsing terrain while maintaining stability and prioritizing safety.
Problem
Research questions and friction points this paper is trying to address.
Enabling quadruped robots to navigate collapsing terrain safely
Assessing terrain stability using joint measurements without hardware modifications
Detecting collapsible regions and dynamically adjusting footholds for stability
Innovation
Methods, ideas, or system contributions that make the work stand out.
Joint measurements assess terrain stability without hardware modifications
Model Predictive Control optimizes robot motion balancing stability
State machine coordinates terrain probing for dynamic foothold adjustment
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