Matches in SemOpenAlex for { <https://semopenalex.org/work/W2934335905> ?p ?o ?g. }
Showing items 1 to 73 of
73
with 100 items per page.
- W2934335905 abstract "The high agility of legged systems allows them to operate in rugged outdoor environments. In these situations, knowledge about the terrain geometry is key for foothold planning to enable safe locomotion. However, on penetrable or highly compliant terrain (e.g. grass) the visibility of the supporting ground surface is obstructed, i.e. it cannot directly be perceived by depth sensors. We present a method to estimate the underlying terrain topography by fusing haptic information about foot contact closure locations with exteroceptive sensing. To obtain a dense support surface estimate from sparsely sampled footholds we apply Gaussian process regression. Exteroceptive information is integrated into the support surface estimation procedure by estimating the height of the penetrable surface layer from discrete penetration depth measurements at the footholds. The method is designed such that it provides a continuous support surface estimate even if there is only partial exteroceptive information available due to shadowing effects. Field experiments with the quadrupedal robot ANYmal show how the robot can smoothly and safely navigate in dense vegetation." @default.
- W2934335905 created "2019-04-11" @default.
- W2934335905 creator A5015540714 @default.
- W2934335905 creator A5044258783 @default.
- W2934335905 creator A5048949232 @default.
- W2934335905 creator A5061972919 @default.
- W2934335905 date "2019-05-01" @default.
- W2934335905 modified "2023-09-25" @default.
- W2934335905 title "Support Surface Estimation for Legged Robots" @default.
- W2934335905 cites W2006983504 @default.
- W2934335905 cites W2089807701 @default.
- W2934335905 cites W2118146148 @default.
- W2934335905 cites W2148710655 @default.
- W2934335905 cites W2154871086 @default.
- W2934335905 cites W2158483689 @default.
- W2934335905 cites W2471969791 @default.
- W2934335905 cites W2772638427 @default.
- W2934335905 cites W2809054577 @default.
- W2934335905 cites W2855708221 @default.
- W2934335905 cites W4211049957 @default.
- W2934335905 cites W4250058668 @default.
- W2934335905 doi "https://doi.org/10.1109/icra.2019.8793646" @default.
- W2934335905 hasPublicationYear "2019" @default.
- W2934335905 type Work @default.
- W2934335905 sameAs 2934335905 @default.
- W2934335905 citedByCount "5" @default.
- W2934335905 countsByYear W29343359052020 @default.
- W2934335905 countsByYear W29343359052022 @default.
- W2934335905 countsByYear W29343359052023 @default.
- W2934335905 crossrefType "proceedings-article" @default.
- W2934335905 hasAuthorship W2934335905A5015540714 @default.
- W2934335905 hasAuthorship W2934335905A5044258783 @default.
- W2934335905 hasAuthorship W2934335905A5048949232 @default.
- W2934335905 hasAuthorship W2934335905A5061972919 @default.
- W2934335905 hasBestOaLocation W29343359052 @default.
- W2934335905 hasConcept C123403432 @default.
- W2934335905 hasConcept C153294291 @default.
- W2934335905 hasConcept C154945302 @default.
- W2934335905 hasConcept C161840515 @default.
- W2934335905 hasConcept C205649164 @default.
- W2934335905 hasConcept C31972630 @default.
- W2934335905 hasConcept C41008148 @default.
- W2934335905 hasConcept C58640448 @default.
- W2934335905 hasConcept C60692881 @default.
- W2934335905 hasConcept C90509273 @default.
- W2934335905 hasConceptScore W2934335905C123403432 @default.
- W2934335905 hasConceptScore W2934335905C153294291 @default.
- W2934335905 hasConceptScore W2934335905C154945302 @default.
- W2934335905 hasConceptScore W2934335905C161840515 @default.
- W2934335905 hasConceptScore W2934335905C205649164 @default.
- W2934335905 hasConceptScore W2934335905C31972630 @default.
- W2934335905 hasConceptScore W2934335905C41008148 @default.
- W2934335905 hasConceptScore W2934335905C58640448 @default.
- W2934335905 hasConceptScore W2934335905C60692881 @default.
- W2934335905 hasConceptScore W2934335905C90509273 @default.
- W2934335905 hasLocation W29343359051 @default.
- W2934335905 hasLocation W29343359052 @default.
- W2934335905 hasOpenAccess W2934335905 @default.
- W2934335905 hasPrimaryLocation W29343359051 @default.
- W2934335905 hasRelatedWork W2110521644 @default.
- W2934335905 hasRelatedWork W2126417091 @default.
- W2934335905 hasRelatedWork W2146369460 @default.
- W2934335905 hasRelatedWork W2170917786 @default.
- W2934335905 hasRelatedWork W2392565008 @default.
- W2934335905 hasRelatedWork W2497633036 @default.
- W2934335905 hasRelatedWork W2540925674 @default.
- W2934335905 hasRelatedWork W2979649235 @default.
- W2934335905 hasRelatedWork W4251200457 @default.
- W2934335905 hasRelatedWork W4312681644 @default.
- W2934335905 isParatext "false" @default.
- W2934335905 isRetracted "false" @default.
- W2934335905 magId "2934335905" @default.
- W2934335905 workType "article" @default.