Haptic Sequential Monte Carlo Localization for Quadrupedal Locomotion in Vision-Denied Scenarios
Russell Buchanan,Marco Camurri,Maurice Fallon,Russell Buchanan,Marco Camurri,Maurice Fallon
Continuous robot operation in extreme scenarios such as underground mines or sewers is difficult because exteroceptive sensors may fail due to fog, darkness, dirt or malfunction. So as to enable autonomous navigation in these kinds of situations, we have developed a type of proprioceptive localization which exploits the foot contacts made by a quadruped robot to localize against a prior map of an ...
