A conventional blind walking algorithm has low walking stability on uneven terrain because a robot cannot rapidly respond to height changes of the ground due to limited information from foot force sensors. In order to cope with rough terrain, it is essential to obtain 3D ground information. Therefore, this paper proposes a vision‐guided six‐legged walking algorithm for stable walking on uneven terrain. We obtained noise‐filtered 3D ground information by using a Kinect sensor and experimentally derived coordinate transformation information between the Kinect sensor and robot body. While generating landing positions of the six feet from the predefined walking parameters, the proposed algorithm modifies the landing positions in terms of reliability and safety using the obtained 3D ground information. For continuous walking, we also propose a ground merging algorithm and successfully validate the performance of the proposed algorithms through walking experiments on a treadmill with obstacles.
Bibliographical noteFunding Information:
Funding: This work was supported by the Industrial Technology Innovation Program (No. 20007058, De‐velopment of safe and comfortable human augmentation hybrid robot suit) funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea). This work was also supported by the Chung‐Ang University research scholarship grant in 2020.
This work was supported by the Industrial Technology Innovation Program (No. 20007058, Development of safe and comfortable human augmentation hybrid robot suit) funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea). This work was also supported by the Chung?Ang University research scholarship grant in 2020.
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All Science Journal Classification (ASJC) codes
- Materials Science(all)
- Process Chemistry and Technology
- Computer Science Applications
- Fluid Flow and Transfer Processes