Foothold Placement Planning with a Hexapod Crawling Robot

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Foothold Placement Planning with a Hexapod Crawling Robot

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Foothold Placement Planning with a Hexapod Crawling Robot

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

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

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

2017

Kód důvěrnosti údajů

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

Název statě ve sborníku

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

ISBN

978-1-5386-2682-5

ISSN

2153-0858

e-ISSN

—

Počet stran výsledku

6

Strana od-do

4096-4101

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Vancouver

Datum konání akce

24. 9. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000426978204003