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ON TRAVERSABILITY COST EVALUATION FROM PROPRIOCEPTIVE SENSING FOR A CRAWLING ROBOT
Author(s) -
Jakub Mrva,
Martin Stejskal,
Jan Faigl
Publication year - 2015
Publication title -
acta polytechnica ctu proceedings
Language(s) - English
Resource type - Journals
ISSN - 2336-5382
DOI - 10.14311/app.2015.1.0034
Subject(s) - hexapod , terrain , robot , crawling , computer science , artificial intelligence , motion planning , computer vision , robotics , simulation , mobile robot , geography , medicine , cartography , anatomy
Traversability characteristics of the robot working environment are crucial in planning an efficient path for a robot operating in rough unstructured areas. In the literature, approaches to wheeled or tracked robots can be found, but a relatively little attention is given to walking multi-legged robots. Moreover, the existing approaches for terrain traversability assessment seem to be focused on gathering key features from a terrain model acquired from range data or camera image and only occasionally supplemented with proprioceptive sensing that expresses the interaction of the robot with the terrain. This paper addresses the problem of traversability cost evaluation based on proprioceptive sensing for a hexapod walking robot while optimizing different criteria. We present several methods of evaluating the robot-terrain interaction that can be used as a cost function for an assessment of the robot motion that can be utilized in high-level path-planning algorithms.

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