- Title
- Traction monitoring for collision detection with legged robots
- Creator
- Quinlan, Michael J.; Murch, Craig L.; Middleton, Richard H.; Chalup, Stephan K.
- Relation
- Lecture Notes in Computer Science Vol. 3020, p. 374-384
- Publisher Link
- http://dx.doi.org/10.1007/b98623
- Publisher
- Springer
- Resource Type
- journal article
- Date
- 2004
- Description
- With the introduction of commercially available programmable legged robots, a generic software method for detection of abnormalities in the robots'locomotion is required. Our approach is to gain satisfactory results using a bare minimum amount of hardware feedback; In most cases we are able to detect faults using only the joint angle sensors. Methods for recognising several types of collision as well as a loss of traction are examined. We are particularly interested in applying such techniques to Sony AIBO robots in the RoboCup legged league environment. This investigation provided us with a technique that enabled us to detect collisions with reliable accuracy using limited training time.
- Subject
- RoboCup; AIBO; legged robots; traction monitoring; collision detection
- Identifier
- uon:1799
- Identifier
- http://hdl.handle.net/1959.13/27565
- Identifier
- ISSN:0302-9743
- Rights
- The final publication is available at www.springerlink.com
- Full Text
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