2004 | OriginalPaper | Buchkapitel
Traction Monitoring for Collision Detection with Legged Robots
verfasst von : Michael J. Quinlan, Craig L. Murch, Richard H. Middleton, Stephan K. Chalup
Erschienen in: RoboCup 2003: Robot Soccer World Cup VII
Verlag: Springer Berlin Heidelberg
Enthalten in: Professional Book Archive
Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.
Wählen Sie Textabschnitte aus um mit Künstlicher Intelligenz passenden Patente zu finden. powered by
Markieren Sie Textabschnitte, um KI-gestützt weitere passende Inhalte zu finden. powered by
With the introduction of commercially available programm- able legged robots, a generic software method for detection of abnormalities in the robots’ locomotion is required. Our approach is to gain satisfactory results using a bare minimum amount of hardware feedback; In most cases we are able to detect faults using only the joint angle sensors. Methods for recognising several types of collision as well as a loss of traction are examined. We are particularly interested in applying such techniques to Sony AIBO robots in the RoboCup legged league environment. This investigation provided us with a technique that enabled us to detect collisions with reliable accuracy using limited training time.