Legged robots are exceedingly versatile and have the potential to navigate complex, confined spaces due to their many degrees of freedom. As a result of the computational complexity, there exist no online planners for perceptive whole‐body locomotion of robots in tight spaces. In this paper, we present a new method for perceptive planning for multilegged robots, which generates body poses, footholds, and swing trajectories for collision avoidance. Measurements from an onboard depth camera are used to create a three‐dimensional map of the terrain around the robot. We randomly sample body poses then smooth the resulting trajectory while satisfying several constraints, such as robot kinematics and collision avoidance. Footholds and swing trajectories are computed based on the terrain, and the robot body pose is optimized to ensure stable locomotion while not colliding with the environment. Our method is designed to run online on a real robot and generate trajectories several meters long. We first tested our algorithm in several simulations with varied confined spaces using the quadrupedal robot ANYmal. We also simulated experiments with the hexapod robot Weaver to demonstrate applicability to different legged robot configurations. Then, we demonstrated our whole‐body planner in several online experiments both indoors and in realistic scenarios at an emergency rescue training facility. ANYmal, which has a nominal standing height of 80 cm and a width of 59 cm, navigated through several representative disaster areas with openings as small as 60 cm. Three‐meter trajectories were replanned with 500 ms update times.

中文翻译：

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密闭空间中多腿机器人的感知整体规划

腿式机器人的用途极为广泛，由于其许多自由度，它们有可能在复杂，狭窄的空间中导航。由于计算复杂性，没有在线计划者可以在狭窄的空间中感知机器人的整体运动。在本文中，我们提出了一种用于多腿机器人的感知规划的新方法，该方法可生成身体姿势，立足点和摆动轨迹来避免碰撞。车载深度摄像机的测量结果用于创建机器人周围地形的三维地图。我们随机采样身体姿势，然后在满足一些约束（例如机器人运动学和避免碰撞）的同时使生成的轨迹平滑。根据地形计算落脚点和挥杆轨迹，并且优化了机器人的身体姿势，以确保稳定的运动而不会与环境发生碰撞。我们的方法旨在在真正的机器人上在线运行，并生成几米长的轨迹。我们首先使用四足机器人ANYmal在具有不同限制空间的多个模拟中测试了我们的算法。我们还对六足机器人Weaver进行了仿真实验，以证明其适用于不同的有腿机器人配置。然后，我们在紧急救援培训机构的室内和实际场景中的几个在线实验中演示了我们的全身规划器。ANYmal的标称站立高度为80厘米，宽度为59厘米，在几个代表性的灾区中导航，其开口小至60厘米。重新计划了三米的轨迹，更新时间为500 ms。