データ駆動型の経路追従制御を用いた脚型ロボットのナビゲーション

抄録

This paper describes our autonomous navigation system based on Laikago, a commercially available quadruped robot. We mounted a 3D Lidar and implemented navigation software suite on the robot to walk according to abstract (non-physical) velocity commands. While many of the equipped software components remain unchanged from those for our wheeled robots, we have newly developed data-driven controller for path following to take advantages of the omnidirectional walking capability of the robot. Our robot system successfully completed 1.5 km of autonomous navigation in our university campus.