4 accepted papers
The effectiveness of the robot locomotion can be measured using the cost of transport (CoT) which represents the amount of energy that is needed for traversing from one place to another. Terrains excerpt different mechanical properties when crawled by a multi-legged robot, and thus different values…
Proprioceptive terrain sensing is essential for rough terrain traversal because it helps legged robots to negotiate individual steps by reacting to terrain irregularities. In this work, we propose to utilize inertial data in the detection of the contact between the leg and the terrain during the str…
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…
This paper concerns the self-localization problem of a hexapod walking robot operating in rough terrains. Given that legged robots exhibit higher terrain passability than wheeled or tracked platforms when operating in harsh environments, they constitute a challenge for the localization techniques be…