Vision-based Terrain Perception of Quadruped Robots in Complex Environments

Wang, Kexin; Chen, Teng; Bi, Jian Qiang; Li, Yibin; Rong, Xuewen

doi:10.1109/robio54168.2021.9739576

Cited by 5 publications

(2 citation statements)

References 14 publications

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“…Wang et al Proposed a quadruped robot perception method based on depth vision sensor. By equipping a depth camera on the SDUQuad-48 quadruped robot, the terrain height map was constructed based on point cloud data to realize the perception of environmental terrain [14]. Kim et al proposed a multi-vision sensor that combines two Intel realsense sensors.…”

Section: Introductionmentioning

confidence: 99%

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

Tang,

wang,

Gao

et al. 2024

Preprint

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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.

show abstract

Section: Introductionmentioning

confidence: 99%

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

Tang,

wang,

Gao

et al. 2024

Preprint

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show abstract

“…The discrete foot positions of the footed robot can be applied to different terrain transformations, so it has stronger terrain adaptability and more flexible maneuverability than crawler and wheeled robots, [1], [2], [3]. When designing autonomous navigation functions for quadruped robots in different environments, it must provide safe and reliable path planning.…”

Section: Introductionmentioning

confidence: 99%

MI-RRT-Connect Algorithm for Quadruped Robotics Navigation with Efficiently Path Planning

Jiang

Zhong

et al. 2022

J. Phys.: Conf. Ser.

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Autonomous navigation is playing an increasingly important role in quadruped robotic systems. However, providing safe and reliable path planning for robots is still an open problem. In this paper, we propose a sampling-based path planning algorithm fused with a dual-tree structure, here called Multiple Informed RRT-Connect (MI-RRT-Connect). The proposed MI-RRT-Connect can overcome the disadvantage that the Informed RRT* algorithm takes a long time in the initial search path, by using the RRT-Connect algorithm and the target deviation method, and the initial search path can be obtained quickly. Then, for the optimization of the initial search path, the multi-level parent node selection strategy and the method of calculating the path cost for the parent node are used. The simulation and quadruped robot experimental results show that our method can find an optimal path in a shorter time, and it has been well applied in a real quadruped robot.

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Learning Safe Locomotion for Quadrupedal Robots by Derived-Action Optimization

Zhu,

Zhang

et al. 2024

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Vision-based Terrain Perception of Quadruped Robots in Complex Environments

Cited by 5 publications

References 14 publications

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

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

MI-RRT-Connect Algorithm for Quadruped Robotics Navigation with Efficiently Path Planning

Learning Safe Locomotion for Quadrupedal Robots by Derived-Action Optimization

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