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Tractable terrain-aware motion planning on granular media: An impulsive jumping study

Hubicki, Christian M. and Aguilar, Jeff J. and Goldman, Daniel I. and Ames, Aaron D. (2016) Tractable terrain-aware motion planning on granular media: An impulsive jumping study. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 3887-3892. ISBN 978-1-5090-3762-9. http://resolver.caltech.edu/CaltechAUTHORS:20190205-161256395

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Abstract

This work demonstrates fast motion planning for robot locomotion that is optimized for terrain with complex dynamics, specifically, rapid penetration of granular media. Gait planning is critical for many legged locomotion control approaches, but they typically assume rigid ground contact. We aim to extend these planning methods to include terrain dynamics we see in the natural world, like sand and dirt, which can both deform and fluidize. Using an added-mass description of collective grain motion, we formulated a model of hydrostatic and hydrodynamic terrain effects that is both principled and representable with closed-form dynamics. As a result, we present a model and fast optimization formulation which solves accurate motion plans on granular media with tractable solving times (6.4-3.8 seconds). For validation, we optimized open-loop motor trajectories for a testbed jumping robot to jump to a target apex height from a bed a loosely packed poppy seeds, a model granular medium. While jumps optimized for rigid ground were anemic on granular media, terrain-aware trajectories hit within 6% of their target. This demonstrates the potential for robot locomotion which meets practical task demands, all while being aware of the terrain beneath it.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS.2016.7759572DOIArticle
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2016 IEEE. This research is supported by NSF-PoLS grant 4106D67, ARO grant 4106D36, and NSF-CPS grant 1239085.
Funders:
Funding AgencyGrant Number
NSF4106D67
Army Research Office (ARO)4106D36
NSFCNS-1239085
Record Number:CaltechAUTHORS:20190205-161256395
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20190205-161256395
Official Citation:C. M. Hubicki, J. J. Aguilar, D. I. Goldman and A. D. Ames, "Tractable terrain-aware motion planning on granular media: An impulsive jumping study," 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, 2016, pp. 3887-3892. doi: 10.1109/IROS.2016.7759572
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92701
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:06 Feb 2019 00:20
Last Modified:06 Feb 2019 00:20

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