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Carnegie Mellon Robotics Institute

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Abstract

A legged robot can use its legs for more than locomotion. It can use them to identify the material properties and shape of the terrain it traverses. The author formulates active perception techniques based on force/torque sensing to identify terrain stiffness and surface friction, and present first results in applying the techniques to characterize terraine traversability. The author also describes purposeful contact sensing to update geometric terrain maps in a process that might be called 'shape from kicking'.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference

Eric Krotkov, "Active perception of material and shape by a walking robot," Fifth International Conference on Advanced Robotics, 1991, Robots in Unstructured Environments (ICAR '91), June, 1991, pp. 37 - 42.

BibTeX Reference

@inproceedings{Krotkov_1991_3652,
   author = "Eric Krotkov",
   title = "Active perception of material and shape by a walking robot",
   booktitle = "Fifth International Conference on Advanced Robotics, 1991, Robots in Unstructured Environments (ICAR '91)",
   pages = "37 - 42",
   month = "June",
   year = "1991",
   volume = "1",
}

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