Robust Autonomous Navigation of a Small-Scale Quadruped Robot in Real-World Environments

摘要

Animal-level agility and robustness in robots cannot be accomplished by solely relying on blind locomotion controllers. A significant portion of a robot's ability to traverse terrain comes from reacting to the external world through visual sensing. However, embedding the sensors and compute that provide sufficient accuracy at high speeds is challenging, especially if the robot has significant space limitations. In this paper, we propose a system integration of a small-scale quadruped robot, the MIT Mini-Cheetah Vision, that exteroceptively senses the terrain and dynamically explores the world around it at high velocities. Through extensive hardware and software development, we demonstrate a fully untethered robot with all hardware onboard running a locomotion controller that combines state-of-the-art Regularized Predictive Control (RPC) with Whole-Body Impulse Control (WBIC). We devise a hierarchical state estimator that integrates kinematic, IMU, and localization sensor data to provide state estimates specific to path planning and locomotion tasks. Our integrated system has demonstrated robust autonomous waypoint tracking in dynamic real-world environments at speeds of over 1 m/s with high rates of success.