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Link to original content: https://doi.org/10.48550/arXiv.2304.02129
[2304.02129] Proprioception and reaction for walking among entanglements
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Computer Science > Robotics

arXiv:2304.02129 (cs)
[Submitted on 4 Apr 2023 (v1), last revised 10 Sep 2023 (this version, v2)]

Title:Proprioception and reaction for walking among entanglements

Authors:Justin K. Yim, Jiming Ren, David Ologan, Selvin Garcia Gonzalez, Aaron M. Johnson
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Abstract:Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings, and more so than wheeled or tracked platforms, but naive controllers quickly become entangled and stuck. In this paper we present a method for proprioception aimed specifically at the task of sensing entanglements of a robot's legs as well as a reaction strategy to disentangle legs during their swing phase as they advance to their next foothold. We demonstrate our proprioception and reaction strategy enables traversal of entanglements of many stiffnesses and geometries succeeding in 14 out of 16 trials in laboratory tests, as well as a natural outdoor environment.
Comments: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subjects: Robotics (cs.RO)
Cite as: arXiv:2304.02129 [cs.RO]
  (or arXiv:2304.02129v2 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2304.02129

Submission history

From: Justin Yim [view email]
[v1] Tue, 4 Apr 2023 21:24:58 UTC (16,945 KB)
[v2] Sun, 10 Sep 2023 03:03:45 UTC (16,949 KB)
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