NDLI: Vision enhanced reactive locomotion control for trotting on rough terrain

Content Provider	IEEE Xplore Digital Library
Author	Bazeille, S. Barasuol, V. Focchi, M. Havoutis, I. Frigerio, M. Buchli, J. Semini, C. Caldwell, D.G.
Copyright Year	2013
Description	Author affiliation: Dept. of Adv. Robot., Ist. Italiano di Tecnol. (lIT), Genoa, Italy (Bazeille, S.; Focchi, M.; Havoutis, I.; Frigerio, M.; Semini, C.; Caldwell, D.G.) \|\| Agile & Dexterous Robot. Lab., ETH Zurich, Zurich, Switzerland (Buchli, J.) \|\| Dept. of Autom. & Syst., Fed. Univ. of Santa Catarina (UFSC), Florianpolis, Brazil (Barasuol, V.)
Abstract	Legged robots have the potential to navigate in more challenging terrain than wheeled robots do. Unfortunately, their control is more difficult because they have to deal with the traditional mapping and path planning problems, as well as foothold computation, leg trajectories and posture control in order to achieve successful navigation. Many parameters need to be adjusted in real time to keep the robot stable and safe while it is moving. In this paper, we will present a new framework for a quadruped robot, which performs goal-oriented navigation on unknown rough terrain by using inertial measurement data and stereo vision. This framework includes perception and control, and allows the robot to navigate in a straight line forward to a visual goal in a difficult environment. The developed rough terrain locomotion system does not need any mapping or path planning: the stereo camera is used to visually guide the robot and evaluate the terrain roughness and an inertial measurement unit (IMU) is used for posture control. This new framework is an important step forward to achieve fully autonomous navigation because in the case of problems in the SLAM mapping, a reactive locomotion controller is always active. This ensures stable locomotion in rough terrain, by combining direct visual feedback and inertial measurements. By implementing this controller, an autonomous navigation system has been developed, which is goal-oriented and overcomes disturbances from the ground, the robot weight, or external forces. Indoor and outdoor experiments with our quadruped robot show the effectiveness and the robustness of this framework.
Sponsorship	IEEE Boston Sect.
Starting Page	1
Ending Page	6
File Size	1216143
Page Count	6
File Format	PDF
ISBN	9781467362238
ISSN	23250534
e-ISBN	9781467362252
DOI	10.1109/TePRA.2013.6556366
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-04-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Visualization Reactive walking Cameras visual servoing quadruped robot goal oriented navigation active compliance
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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