Multi-legged robots working in challenging environments are often required to walk on fragile terrain that may collapse upon traversal. We propose a method to test the robot’s next foothold for collapses without endangering it. In this method, the robot’s body is posed in a favourable manner and the terrain is probed to test for collapses using its foot. We also present a study in identifying collapses by using the force profile and the foot tip displacement of the probing foot during probing.


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    Titel :

    Safe Terrain Probing Method for Multi-legged Robots Operating on Brittle Surfaces


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Xiao, Jing (Herausgeber:in) / Kröger, Torsten (Herausgeber:in) / Khatib, Oussama (Herausgeber:in) / Tennakoon, Eranda (Autor:in) / Kottege, Navinda (Autor:in) / Peynot, Thierry (Autor:in) / Roberts, Jonathan (Autor:in)

    Kongress:

    International Symposium on Experimental Robotics ; 2018 ; Buenos Aires, Argentina November 05, 2018 - November 08, 2018



    Erscheinungsdatum :

    23.01.2020


    Format / Umfang :

    13 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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