Plane-based stairway mapping for legged robot locomotion

被引:3
|
作者
Woo, Seungjun [1 ,2 ]
Yumbla, Francisco [1 ,2 ]
Park, Chanyong [1 ]
Choi, Hyouk Ryeol [1 ]
Moon, Hyungpil [1 ]
机构
[1] Sungkyunkwan Univ, Dept Mech Engn, Seoul, South Korea
[2] Escuela Super Politecn Litoral, Fac Mech & Prod Sci Engn, Guayaquil, Ecuador
来源
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION | 2020年 / 47卷 / 04期
关键词
Quadruped robot; Plane-based mapping; Point cloud processing; Stairs detection; Stairway mapping;
D O I
10.1108/IR-09-2019-0189
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
Purpose The purpose of this study is to propose a novel plane-based mapping method for legged-robot navigation in a stairway environment. Design/methodology/approach The approach implemented in this study estimates a plane for each step of a stairway using a weighted average of sensor measurements and predictions. It segments planes from point cloud data via random sample consensus (RANSAC). The prediction uses the regular structure of a stairway. When estimating a plane, the algorithm considers the errors introduced by the distance sensor and RANSAC, in addition to stairstep irregularities, by using covariance matrices. The plane coefficients are managed separately with the data structure suggested in this study. In addition, this data structure allows the algorithm to store the information of each stairstep as a single entity. Findings In the case of a stairway environment, the accuracy delivered by the proposed algorithm was higher than those delivered by traditional mapping methods. The hardware experiment verified the accuracy and applicability of the algorithm. Originality/value The proposed algorithm provides accurate stairway-environment mapping and detailed specifications of each stairstep. Using this information, a legged robot can navigate and plan its motion in a stairway environment more efficiently.
引用
收藏
页码:569 / 580
页数:12
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