Adaptive Body Motion for Blind Hexapod Robot in a Rough Environment
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00234237" target="_blank" >RIV/68407700:21230/15:00234237 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Adaptive Body Motion for Blind Hexapod Robot in a Rough Environment
Original language description
In this paper, we address the problem of traversing rough terrains with a hexapod robot. In contrast with other known approaches, we utilise the built-in sensors of the used smart servo drives, which leads to a cheap solution without a need of additionalor external sensors. The proposed approach is based on a tactile detection of the ground and proposes a body leveling method that adapts to the terrain being traversed and enables to keep the robot in a suitable configuration with respect to the terrain. By combining the tactile sensing and the body leveling method, we get a smooth and adaptive behavior for our technically blind hexapod walking robot, despite the fact it is. The proposed approach has been experimentally verified in a series of scenarios where a regular motion gait does not allow the robot to traverse the terrain while the proposed method enables a successful gait execution in rough terrains of various difficulty.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GJ15-09600Y" target="_blank" >GJ15-09600Y: Adaptive Informative Path Planning in Autonomous Data Collection in Dynamic Unstructured Environments</a><br>
Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 19th International Scientific Student Conferenece POSTER 2015
ISBN
978-80-01-05499-4
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
1-6
Publisher name
Czech Technical University in Prague
Place of publication
Praha
Event location
Praha
Event date
May 14, 2015
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
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