An example method includes determining a plurality of candidate support regions for a support member of a robotic device. The method also includes determining a support region score (SRS) for each candidate support region, wherein the SRS for a given candidate support region depends on a surface geometry of the given candidate support region. The method additionally includes determining an adjacent relation scores (ARS) for each candidate support region, wherein the ARS for a particular candidate support region is based at least on a plurality of SRSs of a plurality of support regions surrounding the particular candidate support region. Based on the determined SRSs and the determined ARSs, the method further includes selecting at least one support region from the plurality of candidate support regions and providing instructions for the robotic device to place the support member on the at least one selected support region.


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    Titel :

    Terrain Evaluation for robot locomotion


    Beteiligte:
    KAGAMI SATOSHI (Autor:in) / NISHIWAKI KOICHI (Autor:in)

    Erscheinungsdatum :

    05.02.2019


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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