Fully Autonomous Locomotion Control of Hexapod Robot with LRF

This chapter proposes several methods for crossing over an obstacle and descending and ascending a cliff based on LRF 3D point clouds data. The experimental results show that the proposed methods are useful for performing assigned tasks. The reliability and the accuracy of the LRF are basically satisfied to capitalize the capabilities of the legged robot COMET-IV, to increase the autonomy of the robot. Also, in order to increase the robustness of the system, another sensor, such as a stereo-vision camera, can be fused with the LRF. The capability of the stereo-vision camera to recognize colored object can help the system to distinguish between obstacles and not obstacles, such as the grasses.

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