Traction monitoring for collision detection with legged robots

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Abstract

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.

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APA

Quinlan, M. J., Murch, C. L., Middleton, R. H., & Chalup, S. K. (2004). Traction monitoring for collision detection with legged robots. In Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science) (Vol. 3020, pp. 374–384). Springer Verlag. https://doi.org/10.1007/978-3-540-25940-4_33

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