Real-time Digital Double Framework to Predict Collapsible Terrains for Legged Robots
Garen Haddeler,Hari P. Palanivelu,Yung Chuen Ng,Fabien Colonnier,Albertus H. Adiwahono,Zhibin Li,Chee-Meng Chew,Meng Yee Chuah,Garen Haddeler,Hari P. Palanivelu,Yung Chuen Ng,Fabien Colonnier,Albertus H. Adiwahono,Zhibin Li,Chee-Meng Chew,Meng Yee Chuah
Inspired by the digital twinning systems, a novel real-time digital double framework is developed to enhance robot perception of the terrain conditions. Based on the very same physical model and motion control, this work exploits the use of such simulated digital double synchronized with a real robot to capture and extract discrepancy information between the two systems, which provides high dimens...
