10.5281/zenodo.1083715
https://zenodo.org/records/1083715
oai:zenodo.org:1083715
Tomas Luneckas
Tomas Luneckas
Dainius Udris
Dainius Udris
Terrain Evaluation Method for Hexapod Robot
Zenodo
2013
Hexapod robot
pose estimation
terrain evaluation
terrain roughness.
2013-01-25
eng
10.5281/zenodo.1083714
https://zenodo.org/communities/waset
14839
Creative Commons Attribution 4.0 International
In this paper a simple terrain evaluation method for
hexapod robot is introduced. This method is based on feet coordinate
evaluation when all are on the ground. Depending on the feet
coordinate differences the local terrain evaluation is possible. Terrain
evaluation is necessary for right gait selection and/or body position
correction. For terrain roughness evaluation three planes are plotted:
two of them as definition points use opposite feet coordinates, third
coincides with the robot body plane. The leaning angle of body plane
is evaluated measuring gravity force using three-axis accelerometer.
Terrain roughness evaluation method is based on angle estimation
between normal vectors of these planes. Aim of this work is to
present a simple method for embedded robot controller, allowing to
find the best further movement settings.