Autonomous Obstacle Legipulation with a Hexapod Robot

Lu, B; Tam, B; Kottege, N

Autonomous Obstacle Legipulation with a Hexapod Robot

Lu, B Tam, B Kottege, N

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Publisher:: ARAA
Publication Type:: Conference Proceeding
Citation:: ACRA 2020 Proceedings, 2020, pp. 1-9
Issue Date:: 2020

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Field	Value	Language
dc.contributor.author	Lu, B
dc.contributor.author	Tam, B
dc.contributor.author	Kottege, N
dc.date	2020-12-08
dc.date.accessioned	2021-06-05T05:33:18Z
dc.date.available	2021-06-05T05:33:18Z
dc.date.issued	2020
dc.identifier.citation	ACRA 2020 Proceedings, 2020, pp. 1-9
dc.identifier.uri	http://hdl.handle.net/10453/149425
dc.description.abstract	Legged robots traversing in confined environments could find their only path is blocked by obstacles. In circumstances where the obstacles are movable, a multilegged robot can manipulate the obstacles using its legs to allow it to continue on its path. We present a method for a hexapod robot to autonomously generate manipulation trajectories for detected obstacles. Using a RGB-D sensor as input, the obstacle is extracted from the environment and filtered to provide key contact points for the manipulation algorithm to calculate a trajectory to move the obstacle out of the path. Experiments on a 30 degree of freedom hexapod robot show the effectiveness of the algorithm in manipulating a range of obstacles in a 3D environment using its front legs
dc.language	en
dc.publisher	ARAA
dc.relation.ispartof	ACRA 2020 Proceedings
dc.rights	info:eu-repo/semantics/openAccess
dc.title	Autonomous Obstacle Legipulation with a Hexapod Robot
dc.type	Conference Proceeding
utslib.location.activity	Australasian Conference on Robotics and Automation
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
utslib.copyright.status	open_access	*
pubs.consider-herdc	false
dc.date.updated	2021-06-05T05:33:16Z
pubs.finish-date	2020-12-09
pubs.place-of-publication	Australia
pubs.publication-status	Published
pubs.start-date	2020-12-08
dc.location	Australia

Abstract:

Legged robots traversing in confined environments could find their only path is blocked by obstacles. In circumstances where the obstacles are movable, a multilegged robot can manipulate the obstacles using its legs to allow it to continue on its path. We present a method for a hexapod robot to autonomously generate manipulation trajectories for detected obstacles. Using a RGB-D sensor as input, the obstacle is extracted from the environment and filtered to provide key contact points for the manipulation algorithm to calculate a trajectory to move the obstacle out of the path. Experiments on a 30 degree of freedom hexapod robot show the effectiveness of the algorithm in manipulating a range of obstacles in a 3D environment using its front legs

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http://hdl.handle.net/10453/149425