An example method includes determining a plurality of candidate support regions for a support member of a robotic device. The method also includes determining a support region score (SRS) for each candidate support region, wherein the SRS for a given candidate support region depends on a surface geometry of the given candidate support region. The method additionally includes determining an adjacent relation scores (ARS) for each candidate support region, wherein the ARS for a particular candidate support region is based at least on a plurality of SRSs of a plurality of support regions surrounding the particular candidate support region. Based on the determined SRSs and the determined ARSs, the method further includes selecting at least one support region from the plurality of candidate support regions and providing instructions for the robotic device to place the support member on the at least one selected support region.
Terrain Evaluation for robot locomotion
2019-02-05
Patent
Elektronische Ressource
Englisch
Dynamic Locomotion of Quadruped Robot in Sloping Terrain
IEEE | 2023
|Perception and control of robot legged locomotion over variable terrain
BASE | 2016
|Biologically-inspired robot locomotion models in interaction with complex terrain physics
TIBKAT | 2023
|