RETRACTED: Environment sensing architecture of quadruped robot and verification in typical scenarios

Abstract

In recent years, advancements in sensor technology, information processing, computer science, and artificial intelligence have significantly enhanced the autonomy of robots. Quadruped robots operating autonomously in unstructured environments greatly increase the opportunity to explore unknown environments, so accurately sensing the external environment through multi-source sensor information is essential for quadruped robots. In this paper, the hardware and software architecture of four-legged robot environment awareness is proposed, and the perception performance is verified in typical scenarios. The hardware system of the quadruped robot environment perception includes the environment sensor and its computing platform, and the software system includes the visual perception module, the tactile perception module, the LiDAR perception module and the inertial navigation module. In order to evaluate the practicability and performance of the proposed hardware-software environment sensing architecture for quadruped robots, experiments on quadruped robots were carried out in typical scenarios. The experimental results show that the proposed environment sensing software and hardware architecture of quadruped robot has good robustness and can realize accurate and reliable external environment sensing.