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Single-shot Foothold Selection and Constraint Evaluation for Quadruped Locomotion

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https://ieeexplore.ieee.org/document/8793801
Original languageEnglish
Title of host publication2019 IEEE International Conference on Robotics and Automation (ICRA)
Pages7441-7447
Number of pages7
ISBN (Electronic)978-1-5386-6027-0
DOIs
Publication statusPublished - 12 Aug 2019
Event2019 IEEE International Conference on Robotics and Automation (ICRA) - Montreal, Canada
Duration: 20 May 201924 May 2019
https://www.icra2019.org/

Publication series

Name
PublisherInstitute of Electrical and Electronics Engineers
ISSN (Print)1050-4729
ISSN (Electronic)2577-087X

Conference

Conference2019 IEEE International Conference on Robotics and Automation (ICRA)
Abbreviated titleICRA 2019
CountryCanada
CityMontreal
Period20/05/1924/05/19
Internet address

Abstract

In this paper, we propose a method for selecting the optimal footholds for legged systems. The goal of the proposed method is to find the best foothold for the swing leg on a local elevation map. First, we evaluate the geometrical characteristics of each cell on the elevation map, checks kinematic constraints and collisions. Then, we apply the Convolutional Neural Network to learn the relationship between the local elevation map and the quality of potential footholds. During execution time, the controller obtains the qualitative measurement of each potential foothold from the neural model. This method evaluates hundreds of potential
footholds and checks multiple constraints in a single step which takes 10 ms on a standard computer without GPU. The experiments were carried out on a quadruped robot walking over rough terrain in both simulation and real robotic platforms.

Event

2019 IEEE International Conference on Robotics and Automation (ICRA)

20/05/1924/05/19

Montreal, Canada

Event: Conference

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