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LRF Assisted Autonomous Walking in Rough Terrain for Hexapod Robot COMET-IV

M. R. Daud, K. Nonami, A. Irawan


This paper presents an autonomous navigation system for a hexapod robot, COMET-IV. This work is trying to capitalize the inherent capabilities of the robot which are not available in wheeled or tracked robot: capability to move its legs and body over different levels of ground, to cross over an obstacle and to step on obstacles. In the previous research, the Grid-based Walking Trajectory for Legged Robot (GWTLR) algorithm was developed [14] and successfully applied to the COMET-IV, for walking over an obstacle. In this paper the algorithm is further improved to make the robot capable of crossing over and stepping on the obstacles, if necessary. The geometric conditions of the obstacles are determined based on 3D point clouds data acquired by a rotating laser range finder, by applying the Edge Detection technique, and straight line properties are manipulated together with the well-known Occupancy Grid Map (OGM) method. Furthermore, to enable the robot to select its optimal walking path, a  customized search algorithm, in which the A* algorithm and Growing Obstacle methods are referenced. The performance of the proposed method is verified by the simulation results of its successful determination of a walking trajectory path for walking over obstacles in diagonal condition.

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