Geometric feature-based footholds identification for an insect-like walker

@article{Zhao2013GeometricFF,
  title={Geometric feature-based footholds identification for an insect-like walker},
  author={Jie Zhao and Jian Jhen Chen and Yubin Liu and He Zhang and Aixiang Cheng},
  journal={2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
  year={2013},
  pages={2345-2350}
}
  • Jie Zhao, Jian Jhen Chen, +2 authors Aixiang Cheng
  • Published in
    IEEE International Conference…
    2013
  • Engineering, Computer Science
  • Legged systems theoretically offer the potential to better traverse rugged terrains than traditional wheeled and tracked designs due to no need for paths of continuous contact with the ground, and therefore have been given great concern. In this paper, a geometric feature-based footholds identification system for a small six-legged robot HITCR-II was presented. For this algorithm, a novel local terrain feature extraction method was introduced, taking account of the shape and size of the robot… CONTINUE READING

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