MyJournals Home  

RSS FeedsSensors, Vol. 19, Pages 1292: Learning the Cost Function for Foothold Selection in a Quadruped Robot (Sensors)

 
 

14 march 2019 13:04:34

 
Sensors, Vol. 19, Pages 1292: Learning the Cost Function for Foothold Selection in a Quadruped Robot (Sensors)
 


This paper is focused on designing a cost function of selecting a foothold for a physical quadruped robot walking on rough terrain. The quadruped robot is modeled with Denavit–Hartenberg (DH) parameters, and then a default foothold is defined based on the model. Time of Flight (TOF) camera is used to perceive terrain information and construct a 2.5D elevation map, on which the terrain features are detected. The cost function is defined as the weighted sum of several elements including terrain features and some features on the relative pose between the default foothold and other candidates. It is nearly impossible to hand-code the weight vector of the function, so the weights are learned using Supporting Vector Machine (SVM) techniques, and the training data set is generated from the 2.5D elevation map of a real terrain under the guidance of experts. Four candidate footholds around the default foothold are randomly sampled, and the expert gives the order of such four candidates by rotating and scaling the view for seeing clearly. Lastly, the learned cost function is used to select a suitable foothold and drive the quadruped robot to walk autonomously across the rough terrain with wooden steps. Comparing to the approach with the original standard static gait, the proposed cost function shows better performance.


 
56 viewsCategory: Chemistry, Physics
 
Sensors, Vol. 19, Pages 1293: Exploiting Impact of Hardware Impairments in NOMA: Adaptive Transmission Mode in FD/HD and Application in Internet-of-Things (Sensors)
Sensors, Vol. 19, Pages 1291: Effect of Uneven Electrostatic Forces on the Dynamic Characteristics of Capacitive Hemispherical Resonator Gyroscopes (Sensors)
 
 
blog comments powered by Disqus


MyJournals.org
The latest issues of all your favorite science journals on one page

Username:
Password:

Register | Retrieve

Search:

Physics


Copyright © 2008 - 2024 Indigonet Services B.V.. Contact: Tim Hulsen. Read here our privacy notice.
Other websites of Indigonet Services B.V.: Nieuws Vacatures News Tweets Nachrichten