Paper: Safe terrain probing method for multi-legged robots operating on brittle surfaces

Safe terrain probing method for multi-legged robots operating on brittle surfaces

Multi-legged robots working in challenging environments are often required to walk on fragile terrain that may collapse upon traversal.

We propose a method to test the robot’s next foothold for collapses without endangering it. In this method, the robot’s body is posed in a favourable manner and the terrain is probed to test for collapses using its foot.

We also present a study in identifying collapses by using the force profile and the foot tip displacement of the probing foot during  probing.

 

Safe terrain probing method for multi-legged robots operating on brittle surfaces. Tennakoon, Eranda; Kottege, Navinda; Peynot, Thierry; Roberts, Jonathan. Safe terrain probing method for multi-legged robots operating on brittle surfaces. In: International Symposium on Experimental Robotics; 5-8 November 2018; Buenos Aires, Argentina. Springer; 2018. 12. 2018-11-05 | Publication type: Conference Material

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