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Aaron Johnson

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Disturbance Detection, Identification, and

Recovery by Gait Transition in Legged Robots

Proceedings of the 2010 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems

October, 2010.

Aaron M. Johnson, G. Clark Haynes, D. E. Koditschek
Electrical and Systems Engineering
University of Pennsylvania
Full PDF | Scholarly Commons | IEEE Xplore | Project Page

Abstract
       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.
BibTeX entry
@inproceedings{paper:johnson-iros-2010,
  author       = {Aaron M. Johnson and G. Clark Haynes and D. E. Koditschek},
  title        = {Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots},
  booktitle    = {Proceedings of the IEEE/RSJ Intl. Conference on Intelligent Robots and Systems},
  month        = {October},
  year         = {2010},
  address      = {Taipei, Taiwan},
  doi          = {10.1109/IROS.2010.5651061}, 
  pages        = {5347--5353}
}

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