Scheduled System Maintenance:
On May 6th, system maintenance will take place from 8:00 AM - 12:00 PM ET (12:00 - 16:00 UTC). During this time, there may be intermittent impact on performance. We apologize for the inconvenience.
By Topic

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

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

The purchase and pricing options are temporarily unavailable. Please try again later.
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.
more authors

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