让绳索辅助机器人在垂直表面攀爬时自动规划落脚点与绳索张力。
Bi-Level Optimization for Contact and Motion Planning in Rope-Assisted Legged Robots
- 分层优化：外层选安全落点，内层调绳索张力和腿力。
- 在多种复杂地形上实现动态可行的攀爬动作。
- 适合研究攀爬机器人运动规划的研究者参考。
本文提出一种用于绳索辅助机器人在垂直表面攀爬的运动规划框架。该框架采用双层优化策略，解决混合整数问题：在选择可行着陆区域的同时，优化控制输入（即绳索张力、腿部作用力及着陆位置）。外层优化使用交叉熵法求解，内层则通过基于梯度的非线性优化计算动态可行的运动轨迹。方法在新型攀爬机器人平台 ALPINE 上进行了验证，覆盖多种具有挑战性的地形配置。
原文摘要 · Abstract (English)
This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization scheme that addresses a mixed-integer problem: selecting feasible terrain regions for landing while simultaneously optimizing the control inputs, namely rope tensions and leg forces, and landing location. The outer level of the optimization is solved using the Cross-Entropy Method, while the inner level relies on gradient-based nonlinear optimization to compute dynamically feasible motions. The approach is validated on a novel climbing robot platform, ALPINE, across a variety of challenging terrain configurations.
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