Abstract
Humanoid robots are a good option for rescue missions in disaster scenarios when the safety of the rescue team can be compromised. Thus, allowing saving lives without the need of risking the safety of the rescue team. In this study we propose a reactive walking algorithm that provides statically stable locomotion when negotiating difficult terrains (combinations of inclined planes and flat ground) in the case that computer vision is not an option due to occluded terrains. Furthermore, we have tested the algorithm in simulation using the DRCSim software package obtaining good results.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Fuzzy logic in control systems: fuzzy logic controller. i 20
Belter, D.: Perception-based motion planning for a walking robot in rugged terrain. In: Kozłowski, K. (ed.) Robot Motion and Control 2011. LNCIS, vol. 422, pp. 127–136. Springer, Heidelberg (2012)
Davids, A.: Urban search and rescue robots: from tragedy to technology. IEEE Intelligent Systems 17(2), 81–83 (2002), doi:10.1109/MIS, 999224
gazebosim.org: DRCSim user guide, http://gazebosim.org/wiki/DRC/UserGuide (accessed July 1, 2013)
gazebosim.org: GAZEBO - about gazebo, http://gazebosim.org/about.html (accessed July 1, 2013)
Nagy, P., Desa, S., Whittaker, W.: Energy-based stability measures for reliable locomotion of statically stable walkers: Theory and application. The International Journal of Robotics Research 13(3), 272–287 (1994) doi:10.1177/027836499401300307
Gonzalez-de Santos, P., Garcia, E., Estremera, J.: Quadrupedal locomotion: an introduction to the control of four-legged robots. Springer, Berlin (2006)
Tsai, L.: Robot Analysis: The Mechanics of Serial and Parallel Manipulators. A Wiley-Interscience Publication. Wiley (1999)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Arevalo, J.C., Sanz-Merodio, D., Garcia, E. (2014). Reactive Humanoid Walking Algorithm for Occluded Terrain. In: Armada, M., Sanfeliu, A., Ferre, M. (eds) ROBOT2013: First Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 253. Springer, Cham. https://doi.org/10.1007/978-3-319-03653-3_30
Download citation
DOI: https://doi.org/10.1007/978-3-319-03653-3_30
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-03652-6
Online ISBN: 978-3-319-03653-3
eBook Packages: EngineeringEngineering (R0)