A contact parameter estimation method for multi-modal robot locomotion on deformable granular terrains

Lyu，Shipeng1; Zhang，Wenyao1; Yao，Chen1; Liu，Zhengtao1; Su，Yang2; Zhu，Zheng1; Jia，Zhenzhong1

2024

10.1017/S026357472300187X

Robotica   影响因子和分区

0263-5747

1469-8668

In this paper, we consider the problem of contact parameters (slippage and sinkage) estimation for multi-modal robot locomotion on granular terrains. To describe the contact events in the same framework for robots operated at different modes (e.g., wheel, leg), we propose a unified description of contact parameters for multi-modal robots. We also provide a parameter estimation method for multi-modal robots based on CNN and DWT (discrete wavelet transformation) techniques and verify its effectiveness over different types of granular terrains. Besides motion modes, this paper also considers the influence of slope angles and the robot’s handing angles over contact parameters. Through comparison and analysis of the prediction results, our method can not only effectively predict the contact parameters of multi-modal robot locomotion on a granular medium (better than 96% accuracy) but also achieves the same or better performance when compared to other (direct) contact measurement methods designed for individual motion modes, that is, single-modal robots such as quadruped robots and mars rovers. Our proposed unified contact parameter estimation method can be useful for studying the interaction mechanics between multi-modal robots and granular terrains as well as terrain classification tasks due to its superior sensitivity which is analyzed in the experiments.

contact estimation granular terrain robot locomotion terramechanics

SCI ; EI

英语

第一 ; 通讯

ENGINEERING

2-s2.0-85183697433

Scopus

1.Department of Mechanical and Energy Engineering,Southern University of Science and Technology,Shenzhen,Guangdong Province,518055,China
2.Harbin of Institute of Technology (HIT),Harbin,150090,China

Lyu，Shipeng,Zhang，Wenyao,Yao，Chen,et al. A contact parameter estimation method for multi-modal robot locomotion on deformable granular terrains[J]. Robotica,2024,42(4):1001-1017.

Lyu，Shipeng.,Zhang，Wenyao.,Yao，Chen.,Liu，Zhengtao.,Su，Yang.,...&Jia，Zhenzhong.(2024).A contact parameter estimation method for multi-modal robot locomotion on deformable granular terrains.Robotica,42(4),1001-1017.

Lyu，Shipeng,et al."A contact parameter estimation method for multi-modal robot locomotion on deformable granular terrains".Robotica 42.4(2024):1001-1017.