Proprioception and Reaction for Walking Among Entanglements
Justin K. Yim,Jiming Ren,David Ologan,Selvin Garcia Gonzalez,Aaron M. Johnson,Justin K. Yim,Jiming Ren,David Ologan,Selvin Garcia Gonzalez,Aaron M. Johnson
Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings, and more so than wheeled or tracked platforms, but naive controllers quickly become entangled and stuck. In this paper we present a method for proprioception aimed specifically at the task of sensin...
