Haptic Inspection of Planetary Soils With Legged Robots

Planetary exploration robots encounter challenging terrain during operation. Vision-based approaches have failed to reliably predict soil characteristics in the past, making it necessary to probe the terrain tactilely. We present a robust, haptic inspection approach for a variety of fine, granular m...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 4; no. 2; pp. 1626 - 1632
Main Authors:	Kolvenbach, Hendrik, Bartschi, Christian, Wellhausen, Lorenz, Grandia, Ruben, Hutter, Marco
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.04.2019 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	AI-based methods Classification Discrete Wavelet Transform Foot Force and tactile sensing Granular materials Granular media Inspection Legged locomotion legged robots Robot sensing systems Robots Sensors Soil Soils Space exploration space robotics and automation Support vector machines Terrain Wavelet transforms
ISSN:	2377-3766
Online Access:	Get full text
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