Foothold Placement Planning with a Hexapod Crawling Robot

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00315447" target="_blank" >RIV/68407700:21230/17:00315447 - isvavai.cz</a>

Result on the web

<a href="http://dx.doi.org/10.1109/IROS.2017.8206267" target="_blank" >http://dx.doi.org/10.1109/IROS.2017.8206267</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/IROS.2017.8206267" target="_blank" >10.1109/IROS.2017.8206267</a>

Result language

angličtina

Original language name

Foothold Placement Planning with a Hexapod Crawling Robot

Original language description

In this work, we concern the problem of motion planning for a hexapod walking robot crawling in a semi-structured environment where a precise foot-tip positioning is necessary. We propose pipelined approach utilizing an RGB-D camera to perceive and map the forthcoming terrain in 2.5 D which is then processed for available foot-tip positions. The robot motion control is based on sampling-based planning to determine the most suitable leg supporting configurations for the individual body positions in the created terrain map. The individual body positions are connected into a roadmap with taking into account a feasibility of the robot transition between the individual configurations. The resulting trajectory is then planned in the created roadmap using a standard A* planner. The proposed method has been experimentally evaluated in the on-line and onboard setup with a real hexapod crawling robot. The herein reported results support feasibility of the proposed approach for a precise motion planning of small hexapod crawling robot in a semi-structured environment.

Czech name

—

Czech description

—

Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

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

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2017

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ISBN

978-1-5386-2682-5

ISSN

2153-0858

e-ISSN

—

Number of pages

6

Pages from-to

4096-4101

Publisher name

IEEE

Place of publication

Piscataway

Event location

Vancouver

Event date

Sep 24, 2017

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000426978204003