2020/11/12 by Bethany Lu, Lu, Bethany, Benjamin Tam +3 · 2 citations
Engineering · #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Robot Manipulation and Learning #Robotic Locomotion and Control #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2011.06227
openalex publication_date 2020/11/12 · openalex created_date 2025/10/10 · openalex updated_date 2026/08/01
Legged robots traversing in confined environments could find their only path is blocked by obstacles. In circumstances where the obstacles are movable, a multilegged robot can manipulate the obstacles using its legs to allow it to continue on its path. We present a method for a hexapod robot to autonomously generate manipulation trajectories for detected obstacles. Using a RGB-D sensor as input, the obstacle is extracted from the environment and filtered to provide key contact points for the manipulation algorithm to calculate a trajectory to move the obstacle out of the path. Experiments on a 30 degree of freedom hexapod robot show the effectiveness of the algorithm in manipulating a range of obstacles in a 3D environment using its front legs.