{"title":"基于环境RGBD信息的腿轮变形机器人地形分类、导航与步态选择","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":"{\"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}","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}
Terrain Classification, Navigation, and Gait Selection in a Leg-Wheel Transformable Robot by Using Environmental RGBD Information
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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