Abstract
With the introduction of commercially available programm- able legged robots, a generic software method for detection of abnormalities in the robots’ locomotion is required. Our approach is to gain satisfactory results using a bare minimum amount of hardware feedback; In most cases we are able to detect faults using only the joint angle sensors. Methods for recognising several types of collision as well as a loss of traction are examined. We are particularly interested in applying such techniques to Sony AIBO robots in the RoboCup legged league environment. This investigation provided us with a technique that enabled us to detect collisions with reliable accuracy using limited training time.
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Quinlan, M.J., Murch, C.L., Middleton, R.H., Chalup, S.K. (2004). Traction Monitoring for Collision Detection with Legged Robots. In: Polani, D., Browning, B., Bonarini, A., Yoshida, K. (eds) RoboCup 2003: Robot Soccer World Cup VII. RoboCup 2003. Lecture Notes in Computer Science(), vol 3020. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-25940-4_33
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DOI: https://doi.org/10.1007/978-3-540-25940-4_33
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