CNN-based Foothold Selection for Mechanically Adaptive Soft Foot
Jakub Bednarek,Noel Maalouf,Mathew J. Pollayil,Manolo Garabini,Manuel G. Catalano,Giorgio Grioli,Dominik Belter,Jakub Bednarek,Noel Maalouf,Mathew J. Pollayil,Manolo Garabini,Manuel G. Catalano,Giorgio Grioli,Dominik Belter
In this paper, we consider a problem of foothold selection for the quadrupedal robots equipped with compliant adaptive feet. Starting from a model of the foot we compute the quality of the potential footholds considering also kinematic constraints and collisions during evaluation. Since terrain assessment and constraints checking are computationally expensive we applied a Convolutional Neural Netw...
