Terrain Classification Using a Hexapod Robot

  title={Terrain Classification Using a Hexapod Robot},
  author={Graeme Best and Peyman Moghadam and Navinda Kottege and Lindsay Kleeman},
The effectiveness of a legged robot’s gait is highly dependent on the ground cover of the terrain the robot is traversing. It is therefore advantageous for a legged robot to adapt its behaviour to suit the environment. In order to achieve this, the robot must be able to detect and classify the type of ground cover it is traversing. We present a novel approach for ground cover classification that utilises position measurements of the leg servos to estimate the errors between commanded and actual… CONTINUE READING
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