四足机器人可自动跟随人体并避障，提升移动辅助安全性。
Obstacle-Avoidant Leader Following with a Quadruped Robot
- 融合射频、视觉与激光雷达实现稳定跟随
- 定制局部避障规划器可在狭窄空间灵活穿行
- 在ANYmal平台上验证了真实场景下的可靠性
个人移动机器人助手有望在工业和医疗领域广泛应用，例如帮助行动受限人群完成日常任务，或为建筑工人提供现场精准监测。然而，在运动中手动操控机器人需要操作员高度集中，尤其在狭小或拥挤空间，会降低行走速度，加剧疲劳，增加事故风险。本文提出一种虚拟牵引绳机制，使机器人能自然跟随操作者。系统基于自研射频应答器、RGB相机与激光雷达进行传感器融合，并为足式平台定制局部避障规划器，以应对动态且狭窄的环境。我们在ANYmal平台上成功验证了该完整系统的鲁棒性与性能，实测结果表明其在真实场景中表现可靠。
原文摘要 · Abstract (English)
Personal mobile robotic assistants are expected to find wide applications in industry and healthcare. For example, people with limited mobility can benefit from robots helping with daily tasks, or construction workers can have robots perform precision monitoring tasks on-site. However, manually steering a robot while in motion requires significant concentration from the operator, especially in tight or crowded spaces. This reduces walking speed, and the constant need for vigilance increases fatigue and, thus, the risk of accidents. This work presents a virtual leash with which a robot can naturally follow an operator. We use a sensor fusion based on a custom-built RF transponder, RGB cameras, and a LiDAR. In addition, we customize a local avoidance planner for legged platforms, which enables us to navigate dynamic and narrow environments. We successfully validate on the ANYmal platform the robustness and performance of our entire pipeline in real-world experiments.
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