Hardware implementation of ground classification for a walking robot

The mobile robot requires the knowledge about the ground type in front of it to efficiently negotiate diverse terrain types while working outdoors. This article presents the implementation of ground classification algorithms in a Field Programmable Gate Array structure. The terrain type classification is based on the signals acquired with force/torque sensor mounted on the walking robot foot. The hardware implementation allows for offloading of the resource demanding computations. The paper begins with a short presentation of the experimental setup. Then the classification algorithms are described. Finally the description of hardware implementation of the algorithms is given followed by the test results.