Traversal cost modeling based on motion characterization for multi-legged walking robots
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00336167" target="_blank" >RIV/68407700:21230/19:00336167 - isvavai.cz</a>
Result on the web
<a href="https://ieeexplore.ieee.org/abstract/document/8870912" target="_blank" >https://ieeexplore.ieee.org/abstract/document/8870912</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ECMR.2019.8870912" target="_blank" >10.1109/ECMR.2019.8870912</a>
Alternative languages
Result language
angličtina
Original language name
Traversal cost modeling based on motion characterization for multi-legged walking robots
Original language description
In this paper, we concern a traversal cost estimation considering motion control of a hexapod walking robot. The proposed idea is motivated by the observation that the traversal cost depends not only on the traversed terrain but also on the robot motion. Based on the experimental deployments, the forward motion is preferable over some terrains; however, uphill and downhill locomotion over the particular terrain might differ significantly. Therefore, we propose to enhance the traversal cost model by a motion characterization. The model is learned using feature descriptor composed of terrain shape and appearance that is combined with the expected motion performance determined from the slope change and possible rotation of the robot. The traversal model enables to reason about the robot stability regarding placement of the robot legs and performed motion action. The proposed idea of motion characterization is demonstrated and experimentally verified on a simplified motion control using grid-based planning with the robot control decomposed into straight and turn movements.
Czech name
—
Czech description
—
Classification
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)
Result continuities
Project
<a href="/en/project/GA18-18858S" target="_blank" >GA18-18858S: Robotic Lifelong Learning of Multi-legged Robot Locomotion Control in Autonomous Data Collection Missions</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2019 European Conference on Mobile Robots (ECMR)
ISBN
978-1-7281-3605-9
ISSN
—
e-ISSN
—
Number of pages
6
Pages from-to
—
Publisher name
IEEE
Place of publication
St. Paul, Minnesota
Event location
Prague
Event date
Aug 4, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
—