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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
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| 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}
} |
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