{"title":"Terrain Classification, Navigation, and Gait Selection in a Leg-Wheel Transformable Robot by Using Environmental RGBD Information","authors":"Ting-Hao Wang, Ding-Gong Sung, Pei-Chun Lin","doi":"10.1109/CACS.2018.8606730","DOIUrl":null,"url":null,"abstract":"This paper presents a behavior decision strategy for the leg-wheel transformable robot, TurboQuad-V. By using real-time RGBD information combined with the gait selection policy concluded from the single-leg-wheel dynamic simulation, the robot can perform autonomous gait switching and basic obstacle avoidance on multiple terrains.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"535 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 International Automatic Control Conference (CACS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CACS.2018.8606730","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5
Abstract
This paper presents a behavior decision strategy for the leg-wheel transformable robot, TurboQuad-V. By using real-time RGBD information combined with the gait selection policy concluded from the single-leg-wheel dynamic simulation, the robot can perform autonomous gait switching and basic obstacle avoidance on multiple terrains.
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