A computer-implemented method when executed by data processing hardware causes the data processing hardware to perform operations. The operations include detecting a candidate support surface at an elevation less than a current surface supporting a legged robot. A determination is made on whether the candidate support surface includes an area of missing terrain data within a portion of an environment surrounding the legged robot, where the area is large enough to receive a touchdown placement for a leg of the legged robot. If missing terrain data is determined, at least a portion of the area of missing terrain data is classified as a no-step region of the candidate support surface. The no-step region indicates a region where the legged robot should avoid touching down a leg of the legged robot.
DETECTING NEGATIVE OBSTACLES
2022-12-08
Patent
Elektronische Ressource
Englisch
Detecting Negative Obstacles by Use of Radar
NTRS | 2006
|SOLUTIONS - Electronics-Computers - Detecting Negative Obstacles by Use of Radar
Online Contents | 2006