STAF: Interaction-Based Design and Evaluation of Sensorized Terrain-Adaptive Foot for Legged Robot Traversing on Soft Slopes

Yao, Chen; Shi, Guowei; Xu, Peng; Lyu, Shipeng; Qiang, Zhiyang; Zhu, Zheng; Ding, Liang; Jia, Zhenzhong

doi:10.1109/tmech.2024.3350183

Cited by 7 publications

References 25 publications

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Automatic extrinsic calibration for structured light camera and repetitive LiDARs

Ge,

Yao,

Wang

et al. 2024

Robotica

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The integration of camera and LiDAR technologies has the potential to significantly enhance construction robots’ perception capabilities by providing complementary construction information. Structured light cameras (SLCs) are a desirable alternative as they provide comprehensive information on construction defects. However, fusing these two types of information depends largely on the sensors’ relative positions, which can only be established through extrinsic calibration. This paper introduces a novel calibration algorithm considering a customized board for SLCs and repetitive LiDARs, which are designed to facilitate the automation of construction robots. The calibration board is equipped with four symmetrically distributed hemispheres, whose centers are obtained by fitting the spheres and adoption with the geometric constraints. Subsequently, the spherical centers serve as reference features to estimate the relationship between the sensors. These distinctive features enable our proposed method to only require one calibration board pose and minimize human intervention. We conducted both simulation and real-world experiments to assess the performance of our algorithm. And the results demonstrate that our method exhibits enhanced accuracy and robustness.

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Automatic extrinsic calibration for structured light camera and repetitive LiDARs

Ge,

Yao,

Wang

et al. 2024

Robotica

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Robotic feet modeled after ungulates improve locomotion on soft wet grounds

Godon,

Ristolainen,

Kruusmaa

2024

Bioinspir. Biomim.

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Locomotion on soft yielding grounds is more complicated and energetically demanding than on hard ground. Wet soft ground (such as mud or snow) is a particularly difficult substance because it dissipates energy when stepping and resists extrusion of the foot. Sinkage in mud forces walkers to make higher steps, thus, to spend more energy. Yet wet yielding terrains are part of the habitat of numerous even-toed ungulates (large mammals with split hooves). We hypothesized that split hooves provide an advantage on wet grounds and investigated the behavior of moose legs on a test rig. We found that split hooves of a moose reduce suction force at extrusion but could not find conclusive evidence that the hoof reduces sinkage. We then continued by designing artificial feet equipped with split-hoof-inspired protuberances and testing them under different conditions. These bio-inspired feet demonstrate an anisotropic behavior enabling reduction of sinkage depth up to 46.3%, suction force by 47.6%, and energy cost of stepping on mud by up to 70.4%. Finally, we mounted these artificial feet on a Go1 quadruped robot moving in mud and observed 38.7% reduction of the mechanical cost of transport and 55.0% increase of speed. Those results help us understand the physics of mud locomotion of animals and design better robots moving on wet terrains. We did not find any disadvantages of the split-hooves-inspired design on hard ground, which suggests that redesigning the feet of quadruped robots improves their overall versatility and efficiency on natural terrains.

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Nondestructive Inspection of Steel Plates By Using Magnetic Absorption Robot and SH EMAT

Wang,

Chen,

Wei

et al. 2024

2024 IEEE 7th International Electrical and Energy Conference (CIEEC)

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STAF: Interaction-Based Design and Evaluation of Sensorized Terrain-Adaptive Foot for Legged Robot Traversing on Soft Slopes

Cited by 7 publications

References 25 publications

Automatic extrinsic calibration for structured light camera and repetitive LiDARs

Automatic extrinsic calibration for structured light camera and repetitive LiDARs

Robotic feet modeled after ungulates improve locomotion on soft wet grounds

Nondestructive Inspection of Steel Plates By Using Magnetic Absorption Robot and SH EMAT

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