4 research outputs found
Towards an Autonomous Walking Robot for Planetary Surfaces
In this paper, recent progress in the development of
the DLR Crawler - a six-legged, actively compliant walking
robot prototype - is presented. The robot implements
a walking layer with a simple tripod and a more complex
biologically inspired gait. Using a variety of proprioceptive
sensors, different reflexes for reactively crossing obstacles
within the walking height are realised. On top of
the walking layer, a navigation layer provides the ability
to autonomously navigate to a predefined goal point in
unknown rough terrain using a stereo camera. A model
of the environment is created, the terrain traversability is
estimated and an optimal path is planned. The difficulty
of the path can be influenced by behavioral parameters.
Motion commands are sent to the walking layer and the
gait pattern is switched according to the estimated terrain
difficulty. The interaction between walking layer and navigation
layer was tested in different experimental setups
Multisensor Data Fusion for Robust Pose Estimation of a Six-Legged Walking Robot
For autonomous navigation tasks it is important
that the robot always has a good estimate of its current
pose with respect to its starting position and - in terms of
orientation - with respect to the gravity vector. For this, the
robot should make use of all available information and be robust
against the failure of single sensors. In this paper a multisensor
data fusion algorithm for the six-legged walking robot DLR
Crawler is presented. The algorithm is based on an indirect
feedback information filter that fuses measurements from an
inertial measurement unit (IMU) with relative 3D leg odometry
measurements and relative 3D visual odometry measurements
from a stereo camera. Errors of the visual odometry are
computed and considered in the filtering process in order to
achieve accurate pose estimates which are robust against visual
odometry failure. The algorithm was successfully tested and
results are presented
Stereokamerabasierte Navigation eines Krabbelroboters auf unebenem GelÀnde
Im Rahmen dieser Diplomarbeit wird ein Algorithmus zur Navigation eines mobilen Roboters in unbekanntem unebenem GelĂ€nde entwickelt, der allein auf den Bildern einer Stereokamera basiert und der daher auch fĂŒr Laufroboter geeignet ist. Der Navigationsalgorithmus soll den Roboter auf einem möglichst kurzen und sicheren Weg zu einem Zielpunkt fĂŒhren, dessen Koordinaten relativ zum Startpunkt des Roboters vom Benutzer vorgegeben werden. Es werden die Ergebnisse einer Literaturrecherche zu vorhandenen NavigationsansĂ€tzen fĂŒr planetare Rover vorgestellt.
Basierend auf diesen Erkenntnissen wird ein Navigationsalgorithmus fĂŒr unebenes GelĂ€nde entworfen, welcher die Lösung der Teilaufgaben Lokalisation, Kartenerstellung, GelĂ€ndebewertung, Pfadplanung und Bewegungssteuerung beinhaltet. Der Algorithmus wird implementiert und auf einem radgetriebenen Roboter sowie auf einem sechsbeinigen Laufroboter in verschiedenen ebenen und unebenen Umgebungen getestet.
Die Ergebnisse der Tests werden dargestellt und Möglichkeiten zur Erweiterung des Navigationsalgorithmus werden genannt
A Comparison of Johansen and Phillips-Hansen Cointegration Tests of forward market efficiency - Baillie and Bollerslev revisited
A navigation algorithm for mobile robots in unknown
rough terrain has been developed. The algorithm is
solely based on stereo images and suitable for wheeled and
legged robots. The navigation system is able to guide the
robot along a short and safe path to a goal specified by
the operator and given in coordinates relative to the starting
point of the robot. The algorithm uses visual odometry for
localization. The terrain is modeled from stereo images and
its traversability is estimated. A D* Lite planner is used for
efficiently planning a short and safe path by incorporating
terrain traversability in the planning process. The robot actively
explores its environment as it follows the path to the goal. The
algorithm has been tested on a wheel driven mobile robot and
on a six-legged walking robot on rough terrain