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This research presents SCRUB, a novel control algorithm enabling armless quadrupeds to perform contact-based tasks like wall traversing without relying on vision or pre-known surface normals. By fusing force and velocity cues within a Kalman filter framework, the method robustly estimates surface orientation despite the dynamic motion inherent in legged locomotion. The study demonstrates successful execution of complex maneuvers on Unitree hardware, advancing the capabilities of autonomous robots for inspection and maintenance in unstructured environments.
SCRUB: Contact-Based Surface-Frame Estimation for Force-Motion Control with an Armless Quadruped
arXiv:2611.06649v1 Announce Type: new Abstract: Wiping, sanding, and inspection robots press a sliding tool on a surface with controlled force. Controlling that force needs the surface normal, which is unknown on real-world, unmapped surfaces. Surface-normal estimators can help estimate the surface normal, but they either need a friction model or assume that the instantaneous tool velocity lies along the surface; however, walking violates this assumption. We propose SCRUB, a contact-based surface-frame estimator, which lets an armless quadruped slide a body-mounted tool along near-vertical surfaces in the absence of known, axis-aligned, or vision-predicted normals. SCRUB's predictive controller presses and slides the tool using a Kalman-filter estimate of the normal from two cues: 1) A force cue measures the estimate's tilt across the motion. If friction directly opposes the motion, the cue is zero exactly when that tilt is zero, for any friction coefficient. However, if the cue's sliding direction is wrong, friction appears as a false tilt. 2) A velocity cue measures tilt along the motion. Walking and pressing move the tool in and out. SCRUB therefore subtracts the commanded press rate from the tool velocity, averages the result over each gait cycle, and treats this mean as lying along the surface. On Unitree Go1 hardware at nominal speed and load, SCRUB completed every wall traverse and column orbit. No orbit completed with either cue removed, without gait averaging, or with a fixed normal.
Abstract:Wiping, sanding, and inspection robots press a sliding tool on a surface with controlled force. Controlling that force needs the surface normal, which is unknown on real-world, unmapped surfaces. Surface-normal estimators can help estimate the surface normal, but they either need a friction model or assume that the instantaneous tool velocity lies along the surface; however, walking violates this assumption. We propose SCRUB, a contact-based surface-frame estimator, which lets an armless quadruped slide a body-mounted tool along near-vertical surfaces in the absence of known, axis-aligned, or vision-predicted normals. SCRUB's predictive controller presses and slides the tool using a Kalman-filter estimate of the normal from two cues: 1) A force cue measures the estimate's tilt across the motion. If friction directly opposes the motion, the cue is zero exactly when that tilt is zero, for any friction coefficient. However, if the cue's sliding direction is wrong, friction appears as a false tilt. 2) A velocity cue measures tilt along the motion. Walking and pressing move the tool in and out. SCRUB therefore subtracts the commanded press rate from the tool velocity, averages the result over each gait cycle, and treats this mean as lying along the surface. On Unitree Go1 hardware at nominal speed and load, SCRUB completed every wall traverse and column orbit. No orbit completed with either cue removed, without gait averaging, or with a fixed normal.
Robotics (cs.RO)
arXiv:2611.06649 [cs.RO]
(or arXiv:2611.06649v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2611.06649 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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