Title :
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
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;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1248906
