Open AccessEVALUATING TERRAIN IRREGULARITY BY ROBOT POSTURE / PAVIRŠIAUS NETOLYGUMO VERTINIMAS PAGAL ROBOTO PADĖTĮ
Author(s) -
Tomas Luneckas
Publication year - 2011
Publication title -
mokslas - lietuvos ateitis
Language(s) - English
Resource type - Journals
eISSN - 2029-2341
pISSN - 2029-2252
DOI - 10.3846/mla.2011.020
Subject(s) - terrain , robot , computer vision , artificial intelligence , computer science , geography , cartography
A method that allows evaluate the terrain irregularity by a robot posture is presented in this paper. A necessity to evaluate terrain irregularity is pointed out. Description of irregular terrain is given. A possibility to evaluate terrain irregularity by feet coordinate standard deviation is proposed. When deviation is σ = 0, all robots are in one plane. Bigger σ the more robot legs are scattered, meaning robot is walking in irregular terrain. A method to evaluate robot horizontality according to terrain by position of three planes is introduced.
Article in Lithuanian