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Performance analysis and terrain classification for a legged robot over rough terrain

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5 Author(s)
Garcia Bermudez, F.L. ; Dept. of Electr. Eng. & Comput. Sci., Univ. of California, Berkeley, Berkeley, CA, USA ; Julian, R.C. ; Haldane, D.W. ; Abbeel, P.
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Minimally actuated millirobotic crawlers navigate unreliably over uneven terrain-even when designed with inherent stability-mostly because of manufacturing variabilities and a lack of good models for ground interaction. In this paper, we investigate the performance of a legged robot as it traverses three distinct rough terrains: tile, carpet, and gravel. Furthermore, we present an accurate, robust, low-lag, and efficient algorithm for terrain classification that uses vibration data from the on-board inertial measurement unit and motor control data from back-EMF sensing and magnetic encoders.

Published in:

Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on

Date of Conference:

7-12 Oct. 2012

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