Inertial navigation and visual line following for a dynamical hexapod robot

Author

Skaff, Sarjoun ; Kantor, George ; Maiwand, David ; Rizzi, Alfred A.

Author_Institution

Inst. of Robotics, Carnegie Mellon Univ., Pittsburgh, PA, USA

Volume

2

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

1808

Abstract

This paper presents preliminary development of autonomous sensor-guided behaviors for a six-legged dynamical robot (RHex). The behaviors represent the exteroceptive closed-loop locomotion strategies for this system. Simple motion models for RHex are described and used to deploy controllers for inertial straight line locomotion and visual line following. Results are experimentally validated on the robot.

Keywords

closed loop systems; gyroscopes; image sensors; inertial navigation; legged locomotion; locomotives; position control; robot vision; autonomous sensor-guided behaviors; closed-loop locomotion strategies; dynamical hexapod robot; gyroscope; image-based controller; inertial navigation; mobile robots; position-based controller; six-legged dynamical robots; straight line locomotion; vision sensors; visual line following; Computer vision; Inertial navigation; Leg; Legged locomotion; Motion control; Path planning; Robot kinematics; Robot sensing systems; Robot vision systems; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1248906

Filename

1248906