Non-Periodic Gait Planning Based on Salient Region Detection for a Planetary Cave Exploration Robot
| Autor: | Uno, Kentaro, Koizumi, Yusuke, Haji, Keigo, Keiff, Maximilian, Harms, Simon, Ribeiro, Warley F. R., Jones, William, Nagaoka, Kenji, Yoshida, Kazuya |
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| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Popis: | A limbed climbing robot can traverse uneven and steep terrain, such as Lunar/Martian caves. Towards the autonomous operation of the robot, we first present a method to detect topographically salient regions in 3D point cloud as the robot ’s graspable targets, and next, we introduce a strategy to plan a non-periodic gait for the robot from the detected discrete graspable options. The proposed gait planner is implemented and validated in our open dynamic climbing robot simulation platform assuming the 3 kg class four-limbed climbing robot testbed moving over steep and uneven Lunar terrain. International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2020), October 19-23, 2020, Los Angles, CA, USA（新型コロナ感染拡大に伴い、オンライン開催に変更） |
| Databáze: | OpenAIRE |
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