ON TRAVERSABILITY COST EVALUATION FROM PROPRIOCEPTIVE SENSING FOR A CRAWLING ROBOT
Traversability characteristics of the robot working environment are crucial in planning an efficient path for a robot operating in rough unstructured areas. In the literature, approaches to wheeled or tracked robots can be found, but a relatively little attention is given to walking multi-legged rob...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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CTU Central Library
2015-12-01
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| Series: | Acta Polytechnica CTU Proceedings |
| Online Access: | https://ojs.cvut.cz/ojs/index.php/APP/article/view/3400 |
| _version_ | 1811263474460786688 |
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| author | Jakub Mrva Martin Stejskal Jan Faigl |
| author_facet | Jakub Mrva Martin Stejskal Jan Faigl |
| author_sort | Jakub Mrva |
| collection | DOAJ |
| description | Traversability characteristics of the robot working environment are crucial in planning an efficient path for a robot operating in rough unstructured areas. In the literature, approaches to wheeled or tracked robots can be found, but a relatively little attention is given to walking multi-legged robots. Moreover, the existing approaches for terrain traversability assessment seem to be focused on gathering key features from a terrain model acquired from range data or camera image and only occasionally supplemented with proprioceptive sensing that expresses the interaction of the robot with the terrain. This paper addresses the problem of traversability cost evaluation based on proprioceptive sensing for a hexapod walking robot while optimizing different criteria. We present several methods of evaluating the robot-terrain interaction that can be used as a cost function for an assessment of the robot motion that can be utilized in high-level path-planning algorithms. |
| first_indexed | 2024-04-12T19:44:48Z |
| format | Article |
| id | doaj.art-f5f06132c61a4860878f91ae55e50098 |
| institution | Directory Open Access Journal |
| issn | 2336-5382 |
| language | English |
| last_indexed | 2024-04-12T19:44:48Z |
| publishDate | 2015-12-01 |
| publisher | CTU Central Library |
| record_format | Article |
| series | Acta Polytechnica CTU Proceedings |
| spelling | doaj.art-f5f06132c61a4860878f91ae55e500982022-12-22T03:18:59ZengCTU Central LibraryActa Polytechnica CTU Proceedings2336-53822015-12-0122343910.14311/APP.2015.1.00343062ON TRAVERSABILITY COST EVALUATION FROM PROPRIOCEPTIVE SENSING FOR A CRAWLING ROBOTJakub Mrva0Martin Stejskal1Jan Faigl2Dept. of Computer Science, Czech Technical University in Prague, Technická 2, 166 27 Prague, Czech RepublicDept. of Computer Science, Czech Technical University in Prague, Technická 2, 166 27 Prague, Czech RepublicDept. of Computer Science, Czech Technical University in Prague, Technická 2, 166 27 Prague, Czech RepublicTraversability characteristics of the robot working environment are crucial in planning an efficient path for a robot operating in rough unstructured areas. In the literature, approaches to wheeled or tracked robots can be found, but a relatively little attention is given to walking multi-legged robots. Moreover, the existing approaches for terrain traversability assessment seem to be focused on gathering key features from a terrain model acquired from range data or camera image and only occasionally supplemented with proprioceptive sensing that expresses the interaction of the robot with the terrain. This paper addresses the problem of traversability cost evaluation based on proprioceptive sensing for a hexapod walking robot while optimizing different criteria. We present several methods of evaluating the robot-terrain interaction that can be used as a cost function for an assessment of the robot motion that can be utilized in high-level path-planning algorithms.https://ojs.cvut.cz/ojs/index.php/APP/article/view/3400 |
| spellingShingle | Jakub Mrva Martin Stejskal Jan Faigl ON TRAVERSABILITY COST EVALUATION FROM PROPRIOCEPTIVE SENSING FOR A CRAWLING ROBOT Acta Polytechnica CTU Proceedings |
| title | ON TRAVERSABILITY COST EVALUATION FROM PROPRIOCEPTIVE SENSING FOR A CRAWLING ROBOT |
| title_full | ON TRAVERSABILITY COST EVALUATION FROM PROPRIOCEPTIVE SENSING FOR A CRAWLING ROBOT |
| title_fullStr | ON TRAVERSABILITY COST EVALUATION FROM PROPRIOCEPTIVE SENSING FOR A CRAWLING ROBOT |
| title_full_unstemmed | ON TRAVERSABILITY COST EVALUATION FROM PROPRIOCEPTIVE SENSING FOR A CRAWLING ROBOT |
| title_short | ON TRAVERSABILITY COST EVALUATION FROM PROPRIOCEPTIVE SENSING FOR A CRAWLING ROBOT |
| title_sort | on traversability cost evaluation from proprioceptive sensing for a crawling robot |
| url | https://ojs.cvut.cz/ojs/index.php/APP/article/view/3400 |
| work_keys_str_mv | AT jakubmrva ontraversabilitycostevaluationfromproprioceptivesensingforacrawlingrobot AT martinstejskal ontraversabilitycostevaluationfromproprioceptivesensingforacrawlingrobot AT janfaigl ontraversabilitycostevaluationfromproprioceptivesensingforacrawlingrobot |