Autonomous legged hill ascent

This paper reports on an autonomous ascent by a legged robotic platform in outdoor forested terrain. Two controllers govern the integration of online inertial measurement unit and light detection and ranging sensor signals into commands for climbing by means of an ed (unicycle) representation of the...

Full description

Saved in:
Bibliographic Details
Published in:Journal of field robotics 2018-08, Vol.35 (5), p.802-832
Main Authors: Ilhan, B. Deniz, Johnson, Aaron M., Koditschek, D. E.
Format: Article
Language:English
Subjects:
Ascent
autonomous robot
Chetaev instability
hill climbing
legged robot
Lidar
Lyapunov stability
obstacle avoidance
terrain ascent
unicycle
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper reports on an autonomous ascent by a legged robotic platform in outdoor forested terrain. Two controllers govern the integration of online inertial measurement unit and light detection and ranging sensor signals into commands for climbing by means of an ed (unicycle) representation of the platform in support of different performance goals: a kinematic version for endurance and a dynamic version for speed. These control laws, backed by a suite of formal correctness guarantees, encourage a stripped‐down sensory suite supporting a simplified world model whose departures from the actual physical environment are handled by the mechanical competence of the legged platform. Both behaviors are implemented on a version of the legged RHex platform, and experiments spanning almost a kilometer (thousands of body lengths) in various challenging settings are conducted.
ISSN:1556-4959
1556-4967
DOI:10.1002/rob.21779