Obstacle/gap detection and terrain classification of walking robots based on a 2D laser range finder

Patrick Kesper, Eduard Grinke, Frank Hesse, Florentin Wörgötter, Poramate Manoonpong

Research output: Chapter in Book/Report/Conference proceedingBook chapterResearchpeer-review

Abstract

This paper utilizes a 2D laser range finder (LRF) to determine the behavior of a walking robot. The LRF provides information for 1) obstacle/gap detection as well as 2) terrain classification. The obstacle/gap detection is based on an edge detection with increased robustness and accuracy due to customized pre and post processing. Its output is used to drive obstacle/gap avoidance behavior or climbing behavior, depending on the height of obstacles or the depth of gaps. The terrain classification employs terrain roughness to select a proper gait with respect to the current terrain. As a result, the combination of these methods enables the robot to decide if obstacles and gaps can be climbed up/down or have to be avoided while at the same time a terrain specific gait can be chosen.

Original languageEnglish
Title of host publicationNature-Inspired Mobile Robotics
Number of pages8
PublisherWorld Scientific
Publication date1. Jan 2013
Pages419-426
ISBN (Print)9789814525527
ISBN (Electronic)9789814525534
DOIs
Publication statusPublished - 1. Jan 2013

Keywords

  • Autonomous robots
  • Climbing
  • Gap avoidance
  • Legged locomotion

Fingerprint Dive into the research topics of 'Obstacle/gap detection and terrain classification of walking robots based on a 2D laser range finder'. Together they form a unique fingerprint.

Cite this