Sensing terrain parameters and the characteristics of vehicle-terrain interaction using the multimode locomotion system of a robot.
Ilkka LeppänenPetri J. VirekoskiAarne HalmePublished in: IROS (2008)
Keyphrases
- rough terrain
- legged robots
- quadruped robot
- autonomous navigation
- legged locomotion
- mobile robot
- outdoor environments
- ground surface
- humanoid robot
- real time
- walking robot
- robot motion
- human robot interaction
- motion planning
- human computer interaction
- robot control
- three dimensional
- ground vehicles
- maximum likelihood
- kinematic model
- visual odometry
- inverted pendulum
- expectation maximization
- human robot
- visual feedback
- robot moves
- sensor networks
- multiresolution
- reinforcement learning
- robotic systems