The utilization of stereo cameras in robotic applications is presented in this paper. The use of a stereo depth sensor is a principal step in robotics applications, since it is the first step in sequences of robotic actions where the intent is to detect and extract windows and obstacles that are not meant to be painted from the surrounding wall. A RealSense D435 stereo camera was used for surface recording via a real-time, appearance-based (RTAB) mapping procedure, as well as to navigate the painting robot. Later, wall detection and the obstacle avoidance processes were performed using statistical filtering and a random sample consensus model (RANSAC) algorithm.

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Our complete dynamical simulation-model realistically describes the real low-cost hexapod walker robot Szabad(ka)-II within prescribed tolerances under nominal load conditions. This validated model is novel, described in detail, for it includes in a single study: (a) digital controllers, (b) gearheads and DC motors, (c) 3D kinematics and dynamics of 18 Degree of Freedom (DOF) structure, (d) ground contact for even ground, (e) sensors and battery model. In our model validation: (a) kinematical-, dynamical-and digital controller variables were simultaneously compared, (b) differences of measured and simulated curves were quantified and qualified, (c) unknown model parameters were estimated by comparing real measurements with simulation results and applying adequate optimization procedures. The model validation helps identifying both model's and real robot's imperfections: (a) gearlash of the joints, (b) imperfection of approximate ground contact model, (c) lack of gearhead's internal non-linear friction in the model. Modeling and model validation resulted in more stable robot which performed better than its predecessors in terms of locomotion.

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