Safe Terrain Probing Method for Multi-legged Robots Operating on Brittle Surfaces

You are here: Homepage > Search

Safe Terrain Probing Method for Multi-legged Robots Operating on Brittle Surfaces

Tennakoon, Eranda / Kottege, Navinda / Peynot, Thierry / Roberts, Jonathan

Multi-legged robots working in challenging environments are often required to walk on fragile terrain that may collapse upon traversal. We propose a method to test the robot’s next foothold for collapses without endangering it. In this method, the robot’s body is posed in a favourable manner and the terrain is probed to test for collapses using its foot. We also present a study in identifying collapses by using the force profile and the foot tip displacement of the probing foot during probing.

Access

Check access

Check availability in my library

Order at Subito €

Export, share and cite

Document information

Title :

Safe Terrain Probing Method for Multi-legged Robots Operating on Brittle Surfaces

Additional title:

Springer Proceedings in Advanced Robotics

Contributors:

Xiao, Jing (editor) / Kröger, Torsten (editor) / Khatib, Oussama (editor) / Tennakoon, Eranda (author) / Kottege, Navinda (author) / Peynot, Thierry (author) / Roberts, Jonathan (author)

Conference:

International Symposium on Experimental Robotics ; 2018 ; Buenos Aires, Argentina November 05, 2018 - November 08, 2018

Published in:

Proceedings of the 2018 International Symposium on Experimental Robotics ; Chapter : 27 ; 305-317

Springer Proceedings in Advanced Robotics ; 11

Publication date :

2020-01-23

Size :

13 pages

ISBN :

978-3-030-33950-0 , 978-3-030-33949-4

ISSN :