Feature Extraction for Terrain Classification with Crawling Robots

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00234236" target="_blank" >RIV/68407700:21230/15:00234236 - isvavai.cz</a>

Výsledek na webu

<a href="http://ceur-ws.org/Vol-1422/179.pdf" target="_blank" >http://ceur-ws.org/Vol-1422/179.pdf</a>

DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Feature Extraction for Terrain Classification with Crawling Robots

Popis výsledku v původním jazyce

In this paper, we address the problem of terrain classification using a technically blind hexapod walking robot. The proposed approach is built on top of the existing method based on analysis of the feedback from the robot?s actuators and the desired trajectory. The formed method uses features for the Support Vector Machine classification method that assumes a regular time-invariant gait to control the robot. However, such a gait does not allow the robot to traverse rough terrains, and therefore, it isnecessary to consider adaptive motion gait to deal with small obstacles, which is, unfortunately, not a regular gait with some fixed predefined period. Therefore, we propose to alter the features extraction process to utilize the terrain classification method also for an adaptive motion gait, which enables the robot to traverse rough terrains. The proposed method has been experimentally verified on several terrains that are not traversable by a default regular gait. The achieved results

Název v anglickém jazyce

Feature Extraction for Terrain Classification with Crawling Robots

Popis výsledku anglicky

In this paper, we address the problem of terrain classification using a technically blind hexapod walking robot. The proposed approach is built on top of the existing method based on analysis of the feedback from the robot?s actuators and the desired trajectory. The formed method uses features for the Support Vector Machine classification method that assumes a regular time-invariant gait to control the robot. However, such a gait does not allow the robot to traverse rough terrains, and therefore, it isnecessary to consider adaptive motion gait to deal with small obstacles, which is, unfortunately, not a regular gait with some fixed predefined period. Therefore, we propose to alter the features extraction process to utilize the terrain classification method also for an adaptive motion gait, which enables the robot to traverse rough terrains. The proposed method has been experimentally verified on several terrains that are not traversable by a default regular gait. The achieved results

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

<a href="/cs/project/GJ15-09600Y" target="_blank" >GJ15-09600Y: Adaptivní plánování v úlohách autonomního sběru dat v nestrukturovaném prostředí</a><br>

Návaznosti

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

Rok uplatnění

2015

Kód důvěrnosti údajů

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

Název statě ve sborníku

ITAT 2015 conference proceedings

ISBN

978-1-5151-2065-0

ISSN

1613-0073

e-ISSN

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Počet stran výsledku

7

Strana od-do

179-185

Název nakladatele

CEUR Workshop Proceedings

Místo vydání

Aachen

Místo konání akce

Čingov

Datum konání akce

17. 9. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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