The capability to predict catastrophic failures and anticipate challenges relating to trafficability enables quadruped robots to adjust their planned trajectory in time to prevent any damages. In this paper, an estimation-based method is proposed to describe the validity of the trajectory from the viewpoint of the traction performance of the terrain. The main contribution of this study lies in equipping quadruped robots with the ability to comprehend the strength characteristics of the terrain and assess the validity of trajectory planning by anticipating potential catastrophic motion failures. To this end, a novel perception method of the foot terrain interface based on proprioception is proposed to estimate terrain strength parameters. The vehicle–terrain traction model is extended to a legged locomotion pattern to estimate the traction limits of the terrain. The trafficability anticipation is driven by combining the traction limits of the terrain and the expected ground reaction force, as obtained by the model-based predictive methods. The validity of this method is verified using a quadruped robot test platform. Results highlight the potential of the presented approach, in which the anticipation of trafficability, grounded in the understanding of the terrain strength, serves as the explicit foundation for altering trajectories to avert motion failure.

中文翻译：

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四足机器人野外作业的通过性预测

预测灾难性故障和预测与通行性相关的挑战的能力使四足机器人能够及时调整其计划轨迹以防止任何损坏。本文提出了一种基于估计的方法，从地形牵引性能的角度来描述轨迹的有效性。这项研究的主要贡献在于使四足机器人能够理解地形的强度特征，并通过预测潜在的灾难性运动故障来评估轨迹规划的有效性。为此，提出了一种基于本体感觉的足部地形界面感知方法来估计地形强度参数。将车辆-地形牵引模型扩展到腿部运动模式，以估计地形的牵引极限。通过结合地形的牵引力限制和通过基于模型的预测方法获得的预期地面反作用力来驱动可通行性预期。利用四足机器人测试平台验证了该方法的有效性。结果凸显了所提出方法的潜力，其中基于对地形强度的理解的可通行性预期，可以作为改变轨迹以避免运动失败的明确基础。