Paper Info
Title
Traversal Cost Modeling Based on Motion Characterization for Multi-legged Walking Robots
Abstract
In this paper, we concern a traversal cost estimation considering motion control of a hexapod walking robot. The proposed idea is motivated by the observation that the traversal cost depends not only on the traversed terrain but also on the robot motion. Based on the experimental deployments, the forward motion is preferable over some terrains; however, uphill and downhill locomotion over the particular terrain might differ significantly. Therefore, we propose to enhance the traversal cost model by a motion characterization. The model is learned using feature descriptor composed of terrain shape and appearance that is combined with the expected motion performance determined from the slope change and possible rotation of the robot. The traversal model enables to reason about the robot stability regarding placement of the robot legs and performed motion action. The proposed idea of motion characterization is demonstrated and experimentally verified on a simplified motion control using grid-based planning with the robot control decomposed into straight and turn movements.
Year
DOI
Venue
2019
10.1109/ECMR.2019.8870912
2019 European Conference on Mobile Robots (ECMR)
Keywords
Field
DocType
hexapod walking robot,traversed terrain,robot motion,forward motion,terrains,traversal cost model,motion characterization,terrain shape,expected motion performance,traversal model,robot stability regarding placement,robot legs,motion action,simplified motion control,robot control,traversal cost modeling,multilegged walking,traversal cost estimation
Computer vision,Robot control,Motion control,Tree traversal,Computer science,Simulation,Terrain,Artificial intelligence,Vibration,Hexapod,Robot,Grid
Conference
ISBN
Citations 
PageRank 
978-1-7281-3606-6
0
0.34
References 
Authors
0
3
Name
Order
Citations
PageRank
Milos Pragr101.35
Petr Čížek2195.95
Jan Faigl333642.34