Vision-Guided Six-Legged Walking of Little Crabster Using a Kinect Sensor

A conventional blind walking algorithm has low walking stability on uneven terrain because a robot cannot rapidly respond to height changes of the ground due to limited information from foot force sensors. In order to cope with rough terrain, it is essential to obtain 3D ground information. Therefor...

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Bibliographic Details
Published inApplied sciences Vol. 12; no. 4; p. 2140
Main Authors Kim, Jung-Yup, Park, Min-Jong, Kim, Sungjun, Shin, Dongjun
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.02.2022
Subjects
Algorithms
Calibration
Cameras
Control algorithms
Coordinate transformations
Feet
Kinect sensor
Landing
legged robot
Localization
Nuclear power plants
Parameter modification
Robots
Rough terrain
Sensors
Treadmills
Vision systems
vision-guided walking
Walking
United States > US
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Summary:A conventional blind walking algorithm has low walking stability on uneven terrain because a robot cannot rapidly respond to height changes of the ground due to limited information from foot force sensors. In order to cope with rough terrain, it is essential to obtain 3D ground information. Therefore, this paper proposes a vision-guided six-legged walking algorithm for stable walking on uneven terrain. We obtained noise-filtered 3D ground information by using a Kinect sensor and experimentally derived coordinate transformation information between the Kinect sensor and robot body. While generating landing positions of the six feet from the predefined walking parameters, the proposed algorithm modifies the landing positions in terms of reliability and safety using the obtained 3D ground information. For continuous walking, we also propose a ground merging algorithm and successfully validate the performance of the proposed algorithms through walking experiments on a treadmill with obstacles.
ISSN:2076-3417
2076-3417
DOI:10.3390/app12042140