2019
DOI: 10.1016/j.robot.2019.05.012
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Curved patch mapping and tracking for irregular terrain modeling: Application to bipedal robot foot placement

Abstract: Legged robots need to make contact with irregular surfaces, when operating in unstructured natural terrains. Representing and perceiving these areas to reason about potential contact between a robot and its surrounding environment, is still largely an open problem. This paper introduces a new framework to model and map local rough terrain surfaces, for tasks such as bipedal robot foot placement. The system operates in real-time, on data from an RGB-D and an IMU sensor. We introduce a set of parametrized patch … Show more

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Cited by 16 publications
(10 citation statements)
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“…Inertial navigation usually is applied for reconfigurable robots [ 99 , 100 , 101 , 102 ], and some approaches uses sensor fusion techniques [ 96 , 97 , 98 ]. Inertial navigation can be utilized for exploration [ 96 , 99 ], sweeping [ 100 ], and autonomous transport [ 97 , 101 ]. Other navigation implements RFID or UWB for localization for entertainment [ 158 ] and searching [ 159 ].…”
Section: Discussionmentioning
confidence: 99%
See 1 more Smart Citation
“…Inertial navigation usually is applied for reconfigurable robots [ 99 , 100 , 101 , 102 ], and some approaches uses sensor fusion techniques [ 96 , 97 , 98 ]. Inertial navigation can be utilized for exploration [ 96 , 99 ], sweeping [ 100 ], and autonomous transport [ 97 , 101 ]. Other navigation implements RFID or UWB for localization for entertainment [ 158 ] and searching [ 159 ].…”
Section: Discussionmentioning
confidence: 99%
“…Filtering techniques are widely used for data fusion with other sensory inputs for reducing errors, such as the extended Kalman filter (EKF). A new mapping and tracking framework was proposed based on parametrized patch models with an IMU and an RGB-D sensor in [ 96 ]. It was operated in real time for surface modeling and terrain stepping with a dense volumetric fusion layer and multiple-depth data.…”
Section: Inertial Navigationmentioning
confidence: 99%
“…In [12], an A * algorithm was used to find the collision-free path for a legged robot to achieve autonomous navigation, while in [13], similar path planners were developed for wheeled-legged path planning. For legged robots, the problem is connected to footstep planning too [14], [15], [16], where a sequence of footsteps are searched for navigation. Traditional methods heavily rely on fixed heuristic functions, such as the Euclidean distance, which lacks adaptability to varying robot configurations and environments and are usually computational heavy.…”
Section: A Classical Path Planningmentioning
confidence: 99%
“…[7][8][9] The applications of hydraulic systems in robots as the drive system have been extensively explored in recent years. In most of existing power-assisted and bionic robotic systems, such as Petman from Boston Dynamics, 10 HULC from Berkeley Bionics, 11 HLEE in Korea Advanced Institute of Science and Technology, 12 and Jinpoong in Myong Ji University, 13 linear hydraulic cylinders and connecting rods were integrated into the driving joint. A linear hydraulic cylinder has the characteristics of simple structure, light weight, and reli 1 Anhui Province Engineering Laboratory of Intelligent Demolition Equipment, Anhui University of Technology, Ma'anshan, China 2 School of Mechanical Engineering, Anhui University of Technology, Ma'anshan, China able operation.…”
Section: Introductionmentioning
confidence: 99%