Probe-before-step walking strategy for multi-legged robots on terrain with risk of collapse
Eranda Tennakoon,Thierry Peynot,Jonathan Roberts,Navinda Kottege,Eranda Tennakoon,Thierry Peynot,Jonathan Roberts,Navinda Kottege
Multi-legged robots are effective at traversing rough terrain. However, terrains that include collapsible footholds (i.e. regions that can collapse when stepped on) remain a significant challenge, especially since such situations can be extremely difficult to anticipate using only exteroceptive sensing. State-of-the-art methods typically use various stabilisation techniques to regain balance and c...
