Haptic terrain classification for legged robots

@article{Hpflinger2010HapticTC,
  title={Haptic terrain classification for legged robots},
  author={Mark A. H{\"o}pflinger and C. David Remy and Marco Hutter and Luciano Spinello and Roland Siegwart},
  journal={2010 IEEE International Conference on Robotics and Automation},
  year={2010},
  pages={2828-2833}
}
In this paper, we are presenting a method to estimate terrain properties (such as small-scale geometry or surface friction) to improve the assessment of stability and the guiding of foot placement of legged robots in rough terrain. Haptic feedback, expressed through joint motor currents and ground contact force measurements that arises when prescribing a predefined motion was collected for a variety of ground samples (four different shapes and four different surface properties). Features were… CONTINUE READING

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