2023/04/04 by Justin K. Yim, Jiming Ren, Yim, Justin K. +7 · 1 citation
Engineering · Medicine · #Algorithm #Artificial intelligence #Biology #Computer science #Engineering #FOS: Computer and information sciences #Graph traversal #Human–computer interaction #Mechanical engineering #Medicine #Mobile robot #Modular Robots and Swarm Intelligence #Natural (archaeology) #Physical medicine and rehabilitation #Proprioception #Robot #Robotic Locomotion and Control #Robotics (cs.RO) #Simulation #Sports Dynamics and Biomechanics #Swing #Systems engineering #Task (project management) #Tree traversal
paper · pdf · doi:10.48550/arxiv.2304.02129
openalex publication_date 2023/04/04 · openalex created_date 2025/10/10 · openalex updated_date 2026/08/06
Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings, and more so than wheeled or tracked platforms, but naive controllers quickly become entangled and stuck. In this paper we present a method for proprioception aimed specifically at the task of sensing entanglements of a robot's legs as well as a reaction strategy to disentangle legs during their swing phase as they advance to their next foothold. We demonstrate our proprioception and reaction strategy enables traversal of entanglements of many stiffnesses and geometries succeeding in 14 out of 16 trials in laboratory tests, as well as a natural outdoor environment.