
Departmental Papers (ESE)
Image
Abstract
This paper demonstrates a fully sensor-based reactive homing behavior on a physical quadrupedal robot, using onboard sensors, in simple (convex obstacle-cluttered) unknown, GPS-denied environments. Its implementation is enabled by our empirical success in controlling the legged machine to approximate the (abstract) unicycle mechanics assumed by the navigation algorithm, and our proposed method of range-only target localization using particle filters.
For more information: Kod*lab
Sponsor Acknowledgements
This work was supported in part by by AFRL grant FA865015D1845 (subcontract 669737-1) and in part by ONR grant #N00014-16-1-2817, a Vannevar Bush Fellowship held by the last author, sponsored by the Basic Research Office of the Assistant Secretary of Defense for Research and Engineering.
Document Type
Conference Paper
Subject Area
GRASP, Kodlab
Date of this Version
12-2017
Publication Source
2017 IEEE International Conference on Robotics and Biomimetics
Copyright/Permission Statement
This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
Keywords
legged robots, sensor-based motion planning, collision avoidance, target localization, homing
Bib Tex
@INPROCEEDINGS{vasilopoulos_arslan_de_koditschek_2017, author={Vasilopoulos, V. and Arslan, O. and De, A. and Koditschek, D.E.}, booktitle={2017 IEEE International Conference on Robotics and Biomimetics}, title={Sensor-Based Legged Robot Homing Using Range-Only Target Localization}, year={2017}}
Included in
Electrical and Computer Engineering Commons, Robotics Commons, Systems Engineering Commons
Date Posted: 20 October 2017
This document has been peer reviewed.
Comments
This work was supported in part by by AFRL grant FA865015D1845 (subcontract 669737-1) and in part by ONR grant #N00014-16-1-2817, a Vannevar Bush Fellowship held by the last author, sponsored by the Basic Research Office of the Assistant Secretary of Defense for Research and Engineering.