Vision-Guided Six-Legged Walking of Little Crabster Using a Kinect Sensor
A conventional blind walking algorithm has low walking stability on uneven terrain because a robot cannot rapidly respond to height changes of the ground due to limited information from foot force sensors. In order to cope with rough terrain, it is essential to obtain 3D ground information. Therefor...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-02-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/12/4/2140 |
| _version_ | 1827657266963152896 |
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| author | Jung-Yup Kim Min-Jong Park Sungjun Kim Dongjun Shin |
| author_facet | Jung-Yup Kim Min-Jong Park Sungjun Kim Dongjun Shin |
| author_sort | Jung-Yup Kim |
| collection | DOAJ |
| description | A conventional blind walking algorithm has low walking stability on uneven terrain because a robot cannot rapidly respond to height changes of the ground due to limited information from foot force sensors. In order to cope with rough terrain, it is essential to obtain 3D ground information. Therefore, this paper proposes a vision-guided six-legged walking algorithm for stable walking on uneven terrain. We obtained noise-filtered 3D ground information by using a Kinect sensor and experimentally derived coordinate transformation information between the Kinect sensor and robot body. While generating landing positions of the six feet from the predefined walking parameters, the proposed algorithm modifies the landing positions in terms of reliability and safety using the obtained 3D ground information. For continuous walking, we also propose a ground merging algorithm and successfully validate the performance of the proposed algorithms through walking experiments on a treadmill with obstacles. |
| first_indexed | 2024-03-09T22:40:48Z |
| format | Article |
| id | doaj.art-9a34f8af24e24105a33e2328d6eeed65 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-09T22:40:48Z |
| publishDate | 2022-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-9a34f8af24e24105a33e2328d6eeed652023-11-23T18:39:56ZengMDPI AGApplied Sciences2076-34172022-02-01124214010.3390/app12042140Vision-Guided Six-Legged Walking of Little Crabster Using a Kinect SensorJung-Yup Kim0Min-Jong Park1Sungjun Kim2Dongjun Shin3Department of Mechanical System Design Engineering, Seoul National University of Science & Technology, 232 Gongrung-ro, Nowon-gu, Seoul 01811, KoreaDepartment of Mechanical System Design Engineering, Seoul National University of Science & Technology, 232 Gongrung-ro, Nowon-gu, Seoul 01811, KoreaSchool of Mechanical Engineering, Chung-Ang University, 84 Heuk-Seok Rd, Dongjak-gu, Seoul 06974, KoreaSchool of Mechanical Engineering, Chung-Ang University, 84 Heuk-Seok Rd, Dongjak-gu, Seoul 06974, KoreaA conventional blind walking algorithm has low walking stability on uneven terrain because a robot cannot rapidly respond to height changes of the ground due to limited information from foot force sensors. In order to cope with rough terrain, it is essential to obtain 3D ground information. Therefore, this paper proposes a vision-guided six-legged walking algorithm for stable walking on uneven terrain. We obtained noise-filtered 3D ground information by using a Kinect sensor and experimentally derived coordinate transformation information between the Kinect sensor and robot body. While generating landing positions of the six feet from the predefined walking parameters, the proposed algorithm modifies the landing positions in terms of reliability and safety using the obtained 3D ground information. For continuous walking, we also propose a ground merging algorithm and successfully validate the performance of the proposed algorithms through walking experiments on a treadmill with obstacles.https://www.mdpi.com/2076-3417/12/4/2140legged robotvision-guided walkingKinect sensor |
| spellingShingle | Jung-Yup Kim Min-Jong Park Sungjun Kim Dongjun Shin Vision-Guided Six-Legged Walking of Little Crabster Using a Kinect Sensor Applied Sciences legged robot vision-guided walking Kinect sensor |
| title | Vision-Guided Six-Legged Walking of Little Crabster Using a Kinect Sensor |
| title_full | Vision-Guided Six-Legged Walking of Little Crabster Using a Kinect Sensor |
| title_fullStr | Vision-Guided Six-Legged Walking of Little Crabster Using a Kinect Sensor |
| title_full_unstemmed | Vision-Guided Six-Legged Walking of Little Crabster Using a Kinect Sensor |
| title_short | Vision-Guided Six-Legged Walking of Little Crabster Using a Kinect Sensor |
| title_sort | vision guided six legged walking of little crabster using a kinect sensor |
| topic | legged robot vision-guided walking Kinect sensor |
| url | https://www.mdpi.com/2076-3417/12/4/2140 |
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