Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots
Johnson, A.M., G.C. Haynes and D.E. Koditschek. (2010). "Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots" 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems October 18-22, 2010, Taipei, Taiwan. pp. 5347-5353
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We present a framework for detecting, identifying, and recovering within stride from faults and other leg contact disturbances encountered by a walking hexapedal robot. Detection is achieved by means of a software contactevent sensor with no additional sensing hardware beyond the commercial actuators’ standard shaft encoders. A simple finite state machine identifies disturbances as due either to an expected ground contact, a missing ground contact indicating leg fault, or an unexpected “wall” contact. Recovery proceeds as necessary by means of a recently developed topological gait transition coordinator. We demonstrate the efficacy of this system by presenting preliminary data arising from two reactive behaviors — wall avoidance and leg-break recovery. We believe that extensions of this framework will enable reactive behaviors allowing the robot to function with guarded autonomy under widely varying terrain and self-health conditions.
Aaron M. Johnson, Galen Clark Haynes, and Daniel E. Koditschek. "Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots" Departmental Papers (ESE) (2010).
Available at: http://works.bepress.com/daniel_koditschek/33