外观
论文arXiv 2603.095852 个月前
面向使用本体感知的四足机器人地形感知安全运动
原文链接：Towards Terrain-Aware Safe Locomotion for Quadrupedal Robots Using Proprioceptive Sensing（arXiv 2603.09585 · 发布日期：2026-08-01）
Towards Terrain-Aware Safe Locomotion for Quadrupedal Robots Using Proprioceptive Sensing
面向低成本四足机器人不平地形安全行走，提出本体感知地形估计与CBF安全控制，并在实验中验证。
核心要点
- 不平地形上可靠估计并实现安全关键控制仍是开放问题。
- 方法生成2.5-D地形图并提取支撑平面参数，融入接触与状态估计。
- 构造地形感知CBF，结合历史地形信息和当前本体测量保证安全。
- 实验显示地形更平滑，基座位置MAE降64.8%、方差降47.2%。
英文摘要 (Abstract)
Achieving safe quadrupedal locomotion in real-world environments has attracted much attention in recent years. When walking over uneven terrain, achieving reliable estimation and realising safety-critical control based on the obtained information is still an open question. To address this challenge, especially for low-cost robots equipped solely with proprioceptive sensors (e.g., IMUs, joint encoders, and contact force sensors), this work first presents an estimation framework that generates a 2.5-D terrain map and extracts support plane parameters, which are then integrated into contact and state estimation. Then, we integrate this estimation framework into a safety-critical control pipeline by formulating control barrier functions that provide rigorous safety guarantees. Experiments demonstrate that the proposed terrain estimation method provides smooth terrain representations. Moreover, the coupled estimation framework of terrain, state, and contact reduces the mean absolute error of base position estimation by 64.8%, decreases the estimation variance by 47.2%, and improves the robustness of contact estimation compared to a decoupled framework. The terrain-informed CBFs integrate historical terrain information and current proprioceptive measurements to ensure global safety by keeping the robot out of hazardous areas and local safety by preventing body-terrain collision, relying solely on proprioceptive sensing.
作者：Peiyu Yang, Jiatao Ding, Wei Pan, Claudio Semini, Cosimo Della Santina
来源
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