外观
论文arXiv 2610.0811022 天前
使用 Virtual Model Control 的冗余机器人未知环境反应式探索
原文链接：Reactive Exploration of Unknown Environments for Redundant Robots using Virtual Model Control（arXiv 2610.08110 · 发布日期：2026-10-06）
Reactive Exploration of Unknown Environments for Redundant Robots using Virtual Model Control
针对受限遮挡未知空间探索，方法以目标体素评分结合VMC控制冗余机械臂，并在仿真与真机受限/开放环境验证。
核心要点
- 受限、遮挡和部分已知空间探索要求机械臂整体位姿受控，并避开新发现障碍。
- 方法基于当前状态与期望信息增益，实时从未探索空间中直接选择目标体素。
- 利用 Virtual Model Control 安全趋近目标，支持柔顺性与全身反应式避障，无需路径重规划。
- 仿真和真机实验在受限与开放环境中均达到超过90%覆盖率，120秒内且无碰撞。
验证范围与局限：验证范围为摘要所述的仿真与真机实验，环境包括受限和开放环境。
英文摘要 (Abstract)
The exploration of confined, occluded, and partially known spaces poses significant challenges in robotic manipulation. The overall pose of the robotic arm must be carefully controlled to respect tight geometric constraints while avoiding newly discovered obstacles. We address this problem by proposing an active exploration approach for redundant robotic arms with an eye-in-hand camera configuration. Our approach navigates and acquires information in real-time based on a novel scoring method that directly selects a target voxel from the unexplored space using the robot's current state and expected information gain. To move the robot safely toward the target voxel, we utilize Virtual Model Control, which guarantees compliance and enables whole-body reactive obstacle avoidance without the need for path replanning. Simulated and real-robot experiments in both confined and open environments demonstrate the effectiveness of our approach, achieving over $90%$ mapping coverage across all tested environments in under $120$ seconds without colliding with obstacles.
作者：Alessio Canzolino, Omar Faris, Alessandro De Blasi, Fulvio Forni
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