Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our coupled planning method uses stochastic and derivatives-free search to plan both foothold locations and horizontal motions due to the local minima produced by the terrain model. It jointly optimizes body motion, step duration and foothold selection, and it models the terrain as a cost-map. Due to the novel attitude planning method, the horizontal motion plans can be applied to various terrain conditions. The attitude planner ensures the robot stability by imposing limits to the angular acceleration. Our whole-body controller tracks compliantly trunk motions while avoiding slippage, as well as kinematic and torque limits. Despite the use of a simplified model, which is restricted to flat terrain, our approach shows remarkable capability to deal with a wide range of noncoplanar terrains. The results are validated by experimental trials and comparative evaluations in a series of terrains of progressively increasing complexity.

中文翻译：

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四足运动的运动规划：耦合规划、地形映射和全身控制

在考虑地形条件的同时规划全身运动对于腿式机器人来说是一个具有挑战性的问题，因为地形模型可能会产生许多局部最小值。由于地形模型产生的局部最小值，我们的耦合规划方法使用随机和无导数搜索来规划立足点位置和水平运动。它联合优化了身体运动、步长和立足点选择，并将地形建模为成本图。由于采用了新颖的姿态规划方法，水平运动规划可以应用于各种地形条件。姿态规划器通过对角加速度施加限制来确保机器人的稳定性。我们的全身控制器可顺应地跟踪躯干运动，同时避免打滑，以及运动学和扭矩限制。尽管使用了简化模型，仅限于平坦地形，我们的方法显示出处理各种非共面地形的非凡能力。结果通过在一系列复杂性逐渐增加的地形中的实验试验和比较评估得到验证。