小型猎豹滑坡地形监测机器人导航能力评估

2021 IEEE 6th International Forum on Research and Technology for Society and Industry (RTSI) Pub Date : 2021-09-06 DOI:10.1109/rtsi50628.2021.9597335

P. Arena, F. D. Pietro, Alessia Li Noce, S. Taffara, L. Patané

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引用次数: 6

摘要

在非结构化环境中导航是机器人研究的一个相关课题，也是一个困难的挑战。利用仿生腿机器人探索不平坦的地形来完成监测任务的可能性，如在滑坡风险评估和预防的情况下，是一个有趣的机会，以克服与轮式平台相关的问题。在这项工作中，我们描述了具有导航所需感官系统的四足机器人的主要特征，然后评估其探索非结构化地形的能力，具有滑坡特征，评估其在典型目标到达任务中的表现。

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Assessment of navigation capabilities of Mini Cheetah robot for monitoring of landslide terrains

Navigation in unstructured environments is a relevant topic and a still difficult challenge for robotic research. The possibility to use biomimetic legged robots to explore uneven terrains to fulfil monitoring missions as in the case of landslide risk assessment and prevention is an interesting opportunity to overcome the problems related to wheeled platforms. In this work we describe the main characteristics of a quadruped robot endowed with the needed sensory system for navigation and then assess its capability in exploring unstructured terrains, possessing landslide characteristics, evaluating its performance on a typical goal-reaching task.

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2021 IEEE 6th International Forum on Research and Technology for Society and Industry (RTSI)

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