Paper Info
Title
Bio-inspired rough terrain contact patch perception
Abstract
We present a new bio-inspired system for automatically finding foot-scale curved surface patches in rough rocky terrain. These patches are intended to provide a reasonable set of choices for higher-level footfall selection algorithms, and are pre-filtered for several attributes - including location, curvature, and normal - that we observed humans to prefer. Input is from a 640 × 480 depth camera augmented with a 9-DoF inertial measurement unit to sense the direction of gravity. The system is capable of finding approximately 700 patches/second on commodity hardware, though the intention is not to find as many patches as possible but to reasonably sample upcoming terrain with quality patches. Sixty recordings of human subjects traversing rocky trails were analyzed to give a baseline for target patch properties. While the presented system is not designed to select a single foothold, it does find a set of patches for possible footholds which are statistically similar to the patches humans select.
Year
DOI
Venue
2014
10.1109/ICRA.2014.6907083
Robotics and Automation
Keywords
Field
DocType
humanoid robots,legged locomotion,rough surfaces,9-DoF inertial measurement unit,bio-inspired rough terrain contact patch perception,depth camera,foot-scale curved surface patches,higher-level footfall selection algorithms,human subject traversing rocky trail analysis,quality patches,rough rocky terrain,single foothold selection,target patch properties
Computer vision,Curvature,Terrain,Inertial measurement unit,Artificial intelligence,Engineering,Contact patch,Perception,Commodity hardware,Traverse
Conference
Volume
Issue
ISSN
2014
1
1050-4729
Citations 
PageRank 
References 
0
0.34
25
Authors
2
Name
Order
Citations
PageRank
Dimitrios Kanoulas133.42
Marsette Vona241047.58