To achieve safe legged locomotion, it is important to generate motion in real-time considering various constraints in robots and environments. In this study, we propose a lightweight real-time perspective motion control system for the newly developed six-wheeled-telescopic-legged robot, Tachyon 3. In the proposed method, analytically smoothed constraints including Smooth Separating Axis Theorem (Smooth SAT) as a novel higher order differentiable collision detection for 3D shapes is applied to the Control Barrier Function (CBF). The proposed system integrating the CBF achieves online motion generation in a short control cycle of 1 ms that satisfies joint limitations, environmental collision avoidance and safe convex foothold constraints. The efficiency of Smooth SAT is shown from the collision detection time of 1 us or less and the CBF constraint computation time for Tachyon3 of several us. Furthermore, the effectiveness of the proposed system is verified through the stair-climbing motion, integrating online recognition in a simulation and a real machine.

翻译：为实现安全的腿式运动，需在考虑机器人本体及环境多重约束的前提下实时生成运动轨迹。本研究针对新开发的六轮伸缩腿机器人Tachyon 3，提出了一种轻量级实时感知运动控制系统。该方法将解析平滑约束（包括作为三维形状高阶可微碰撞检测新方法的平滑分离轴定理）应用于控制障碍函数。集成控制障碍函数的所提系统可在1毫秒的短控制周期内实现在线运动生成，同时满足关节限位、环境避障及安全凸面立足点约束。通过低于1微秒的碰撞检测时间及Tachyon 3控制障碍函数约束计算仅需数微秒的效率验证，证明了平滑分离轴定理的高效性。此外，通过整合在线识别技术的攀爬楼梯运动实验，在仿真与实物平台上验证了所提系统的有效性。