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The Classification of the Terrain by a Hexapod Robot

  • Conference paper
Proceedings of the 8th International Conference on Computer Recognition Systems CORES 2013

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 226))

Abstract

This paper presents a new approach to the terrain classification by a hexapod robot using the tactile information. The data was acquired using the force/torque sensor mounted on the walking robot foot. Two types of classifiers were used and compared: the Normal Bayes Classifier (NBC) and the Classification And Regression Tree (CART). The article comprises the description of the experimental setup followed by the presentation of feature selection process and the comparison of the two classifiers’ accuracy. The classification system presented in the article allows the walking robot to recognize the type of the terrain on which it is currently walking on with over 90% accuracy.

K. Walas is funded by the Polish National Science Centre, Grant No. 2011/01/N/ST7/02070.

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Author information

Authors and Affiliations

  1. Institute of Control and Information Engineering, Poznan University of Technology, Poznań, Poland

    Adam Schmidt & Krzysztof Walas

Authors
  1. Adam Schmidt
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  2. Krzysztof Walas
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Corresponding author

Correspondence to Adam Schmidt .

Editor information

Editors and Affiliations

  1. , Department of Systems and Computer, Wroclaw University of Technology, WybrzezeWyspianskiego St 27, Wroclaw, 50-370, Poland

    Robert Burduk

  2. , Department of Systems and Computer, Wroclaw University of Technology, WybrzezeWyspianskiego St 27, Wroclaw, 50-370, Poland

    Konrad Jackowski

  3. , Department of Systems and Computer, Wroclaw University of Technology, WybrzezeWyspianskiego St 27, Wroclaw, 50-370, Poland

    Marek Kurzynski

  4. , Department of Systems and Computer, Wroclaw University of Technology, WybrzezeWyspianskiego St 27, Wroclaw, 50-370, Poland

    Michał Wozniak

  5. , Department of Systems and Computer, Wroclaw University of Technology, WybrzezeWyspianskiego St, Wroclaw, 50-370, Poland

    Andrzej Zolnierek

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Schmidt, A., Walas, K. (2013). The Classification of the Terrain by a Hexapod Robot. In: Burduk, R., Jackowski, K., Kurzynski, M., Wozniak, M., Zolnierek, A. (eds) Proceedings of the 8th International Conference on Computer Recognition Systems CORES 2013. Advances in Intelligent Systems and Computing, vol 226. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00969-8_81

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  • DOI: https://doi.org/10.1007/978-3-319-00969-8_81

  • Publisher Name: Springer, Heidelberg

  • Print ISBN: 978-3-319-00968-1

  • Online ISBN: 978-3-319-00969-8

  • eBook Packages: EngineeringEngineering (R0)

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