Safe terrain probing method for multi-legged robots operating on brittle surfaces

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


2018-11-05


Conference Material


International Symposium on Experimental Robotics, Buenos Aires, Argentina, 5-8 November 2018


12


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.


Springer


Autonomous Vehicles


Springer Proceedings on Advanced Robotics


EP187919


Conference Paper - Refereed


English


Tennakoon, Eranda; Kottege, Navinda; Peynot, Thierry; Roberts, Jonathan. Safe terrain probing method for multi-legged robots operating on brittle surfaces. In: International Symposium on Experimental Robotics; 5-8 November 2018; Buenos Aires, Argentina. Springer; 2018. 12. http://hdl.handle.net/102.100.100/86295?index=1



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