cam a22 4 4500 528993879 CHVBK 20201202100920.0 180926s2018 sz a m 00 0deng d urn:nbn:ch:bel-1575259 urn (SNL)991017677049703976 (SNL)991018071020503976 (NEBIS)011269129 (Sz)1952023-41snl_51 (Sz)vtls001952023 (Sz)001952023 (Sz)991018071020503976 Sz ger rda eng eng ger 004 23sdnb 621.3 23sdnb Fankhauser Péter 1987- (DE-588)1166159523 Verfasser aut Perceptive locomotion for legged robots in rough terrain presented by Péter Fankhauser Zurich 2018 xiv, 177 Seiten Illustrationen 21 cm Dissertation No. 24849 ETH Zurich, 2018 Literaturverzeichnis application/pdf Robotic technologies will continue to enter new applications in addition to automated manufacturing and logistics. Once mobile robots can also operate outside of today's special facilities, they have the potential to relieve us of dirty and dangerous labor in various areas. However, for this purpose, these machines will need to be able to navigate autonomously in complex natural, urban, and industrial settings. This thesis addresses the development of locomotion skills for legged robots in challenging environments. Our work focuses on perceptive locomotion where exteroceptive sensing of the surrounding is exploited to plan and control the robot's motion. This enables quadrupedal robots to negotiate rough terrain through carefully selected contacts. In this work, we evaluate different sensing technologies and analyze their performance for local dense terrain mapping on a mobile robot. We include special conditions such as close range objects and the influence of ambient light as we find them in real-world applications. By modeling the error characteristics of the sensors, the robot can judge the quality of the resulting terrain reconstruction. As the robot moves, the surrounding is continuously mapped to capture new areas and update regions which have changed. We contribute with a mapping framework that models the terrain from a robot-centric perspective. To this end, we present a novel approach for the error propagation from the robot's state estimation to the representation of the map. This formulation allows for robust and high-rate local mapping that is independent of a global localization method. We introduce our approach to locomotion planning, which finds safe footholds along with collision-free swing-leg motions, leveraging the generated terrain map. A nonlinear optimization finds postures that respect kinematic and stability constraints. We experimentally verify this work with torque-controllable quadrupedal robots that autonomously traverse obstacles, such as rubble, steps, gaps, and stairs without prior knowledge of the scene or any additional equipment. The locomotion planner re-plans its motion at every step in real-time, to cope with disturbances and dynamic environments. For the control of the legged robot, we contribute architecturally to the versatile and task-oriented motion execution. This method enables the robust tracking of motion plans, even with significant mismatches between the models and reality. In addition to rough terrain locomotion, we demonstrate the integration of our method for applications, such as whole-body stair climbing, manipulation, jumping, docking, inspection, payload delivery, dancing, and more. Our approach is thoroughly validated with the quadrupedal robot ANYmal in realistic long-term missions for autonomous industrial inspection and search and rescue. Finally, we extend our work with the design and implementation of a collaborative navigation framework for ground and flying robots. The ground vehicle utilizes the data captured by the flying robot to navigate uncharted environments efficiently. Englischer Text mit englischer und deutscher Zusammenfassung BEWEGUNGSVERLAUF + BEWEGUNGSABLAUF + BAHNPLANUNG (ROBOTIK) ger (ETHUDK)000051153 ethudk GEHMASCHINEN + GEHROBOTER (ROBOTIK) ger (ETHUDK)000051027 ethudk MOBILE ROBOTER ger (ETHUDK)000043038 ethudk Hochschulschrift (DE-588)4113937-9 gnd-content Hochschulschrift gnd-content sb 2018/21 004 zh snl-sb xehelv xediss 2020 621.3 snl ehelv u GEHMASCHINEN + GEHROBOTER (ROBOTIK) ger 007.52,3*03*3 nebis E1 u BEWEGUNGSVERLAUF + BEWEGUNGSABLAUF + BAHNPLANUNG (ROBOTIK) ger 007.52,3*7 nebis E1 u MOBILE ROBOTER ger 007.52,3*1*1 nebis E1 u ROBOTS MARCHEURS (ROBOTIQUE) fre 007.52,3*03*3 nebis E1 u WALKING MACHINES + WALKING ROBOTS (ROBOTICS) eng 007.52,3*03*3 nebis E1 u MOTION PLANNING + MOTION COURSE + TRAJECTORY PLANNING (ROBOTICS) eng 007.52,3*7 nebis E1 u COURS DU MOUVEMENT + TRAJECTOIRE DU MOUVEMENT + PLANIFICATION DU CHEMIN (ROBOTIQUE) fre 007.52,3*7 nebis E1 u ROBOTS MOBILES fre 007.52,3*1*1 nebis E1 u MOBILE ROBOTS eng 007.52,3*1*1 nebis E1 Eidgenössische Technische Hochschule Zürich (DE-588)2023928-2 Grad-verleihende Institution dgg SNL NB001 NB999 - chb99 - https://opac.admin.ch/toc/toc1902039140.pdf Inhaltsverzeichnis BK020300 XK020000 XK020000 113 E01-20180924 SNL NB001 NB001 Nb 207503 NB10010 NEBIS E16 E16 RH Diss ETH 24849 SNL 100 1- Fankhauser Péter 1987- (DE-588)1166159523 Verfasser aut SNL 856 41 https://opac.admin.ch/toc/toc1902039140.pdf Inhaltsverzeichnis SNL 710 2- Eidgenössische Technische Hochschule Zürich (DE-588)2023928-2 Grad-verleihende Institution dgg SNL 100 1- Fankhauser Péter Verfasser aut SNL 856 40 http://hdl.handle.net/20.500.11850/284254 SNL 856 4- https://nbn-resolving.org/urn:nbn:ch:bel-1575259 SNL 856 42 http://www.e-helvetica.nb.admin.ch/directAccess?callnumber=bel-1575259 NEBIS 100 1- Fankhauser Péter 1987- (DE-588)1166159523 Verfasser aut NEBIS 700 1- Siegwart Roland 1959- (DE-588)1020078529 Akademischer Betreuer dgs NEBIS 700 1- Hutter Marco 1985- (DE-588)1116524686 Akademischer Betreuer dgs