Support Surface Estimation for Legged Robots

Legged robots need to have knowledge about the terrain shape to select optimal footholds. When walking through vegetation, the view of the ground is obstructed and cannot be perceived with depth sensors.
We present a method which uses information on foot contact positions to infer the terrain shape.

Please find more info on this work in our paper, published and presented at IEEE International Conference on Robotics and Automation (ICRA) 2019 in Montreal, Canada:

Video by Timon Homberger

[tempname]

I can already imagine these same videos, but on Mars instead of Earth. That would look kinda cozy, if you ask me.

[jeffbrodsky]

Is the proprioceptive based of motor torque to sense foot contact? Also how are you driving and mixing your gate patterns and movements?

[maxitube]

<3
i want be able to do something like this =(

[jjc]

i support all surfaces, including your m..



wait no. too many memes.