WEKO3
アイテム
Non-Periodic Gait Planning Based on Salient Region Detection for a Planetary Cave Exploration Robot
http://hdl.handle.net/10228/00008229
http://hdl.handle.net/10228/00008229a73f8433-86d0-4984-8e60-2b52f6f2e363
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
sociorobo_22.pdf (4.5 MB)
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| アイテムタイプ | 会議発表論文 = Conference Paper(1) | |||||||||||
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| 公開日 | 2021-04-26 | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||||||||
| 資源タイプ | conference paper | |||||||||||
| タイトル | ||||||||||||
| タイトル | Non-Periodic Gait Planning Based on Salient Region Detection for a Planetary Cave Exploration Robot | |||||||||||
| 言語 | en | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 著者 |
Uno, Kentaro
× Uno, Kentaro× Koizumi, Yusuke× Haji, Keigo× Keiff, Maximilian× Harms, Simon× Ribeiro, Warley F. R.× Jones, William× 永岡, 健司
WEKO
30315
× Yoshida, Kazuya |
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| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | A limbed climbing robot can traverse uneven and steep terrain, such as Lunar/Martian caves. Towards the autonomous operation of the robot, we first present a method to detect topographically salient regions in 3D point cloud as the robot ’s graspable targets, and next, we introduce a strategy to plan a non-periodic gait for the robot from the detected discrete graspable options. The proposed gait planner is implemented and validated in our open dynamic climbing robot simulation platform assuming the 3 kg class four-limbed climbing robot testbed moving over steep and uneven Lunar terrain. | |||||||||||
| 備考 | ||||||||||||
| 内容記述タイプ | Other | |||||||||||
| 内容記述 | International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2020), October 19-23, 2020, Los Angles, CA, USA（新型コロナ感染拡大に伴い、オンライン開催に変更） | |||||||||||
| 書誌情報 |
p. #5027, 発行日 2020-10 |
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| 出版タイプ | ||||||||||||
| 出版タイプ | VoR | |||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
| 査読の有無 | ||||||||||||
| 値 | yes | |||||||||||
| 連携ID | ||||||||||||
| 値 | 8784 | |||||||||||
