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Please use this identifier to cite or link to this item: http://hdl.handle.net/1959.13/27565

Title
Traction monitoring for collision detection with legged robots
Author/Creator
Quinlan, Michael J.;  Murch, Craig L.;  Middleton, Richard H.;  Chalup, Stephan K.
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.
Relation
Lecture Notes in Computer Science Vol. 3020, p. 374-384
Publisher Link
http://dx.doi.org/10.1007/b98623
Date
2004
Publisher
Springer
Keyword(s)
RoboCup;  AIBO;  legged robots;  traction monitoring;  collision detection
Resource Type
journal article
Rights
The final publication is available at www.springerlink.com
Identifier
http://hdl.handle.net/1959.13/27565
Identifier
ISSN:0302-9743
Reviewed
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Subject
"Lecture Notes in Computer Science"
 
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