Haptic Foothold Suitability Identification and Prediction for Legged Robots
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Author / Creator
Date
2014-08
Publication Type
Conference Paper
ETH Bibliography
yes
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Abstract
This paper addresses the problem of foothold scoring for legged robots on unstructured terrain. In contrast to approaches that rely on human expert knowledge or human defined criteria to identify appropriate footholds, our method seeks to employ the robot itself as the most suitable authority to assess whether a foothold is suited for walking or not. To this end, haptic feedback from the leg/terrain interaction is applied to identify the minimal load-bearing capability of the explored foothold. Finally, the haptic feedback is associated to the foothold shape, thus allowing to estimate the robustness of footholds that are not within the kinematic range of the leg.
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Publication status
published
External links
Book title
Mobile Service Robotics
Journal / series
Volume
Pages / Article No.
425 - 432
Publisher
World Scientific
Event
17th International Conference on Climbing and Walking Robots (CLAWAR 2014)