Material Recognition CNNs and Hierarchical Planning for Biped Robot Locomotion on Slippery Terrain

by   Martim Brandao, et al.

In this paper we tackle the problem of visually predicting surface friction for environments with diverse surfaces, and integrating this knowledge into biped robot locomotion planning. The problem is essential for autonomous robot locomotion since diverse surfaces with varying friction abound in the real world, from wood to ceramic tiles, grass or ice, which may cause difficulties or huge energy costs for robot locomotion if not considered. We propose to estimate friction and its uncertainty from visual estimation of material classes using convolutional neural networks, together with probability distribution functions of friction associated with each material. We then robustly integrate the friction predictions into a hierarchical (footstep and full-body) planning method using chance constraints, and optimize the same trajectory costs at both levels of the planning method for consistency. Our solution achieves fully autonomous perception and locomotion on slippery terrain, which considers not only friction and its uncertainty, but also collision, stability and trajectory cost. We show promising friction prediction results in real pictures of outdoor scenarios, and planning experiments on a real robot facing surfaces with different friction.


page 5

page 6

page 7


Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection

Real-time synthesis of legged locomotion maneuvers in challenging indust...

Learning robust perceptive locomotion for quadrupedal robots in the wild

Legged robots that can operate autonomously in remote and hazardous envi...

Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments

Despite the progress in legged robotic locomotion, autonomous navigation...

Planning Hybrid Driving-Stepping Locomotion on Multiple Levels of Abstraction

Navigating in search and rescue environments is challenging, since a var...

DRS-LIP: Linear Inverted Pendulum Model for Legged Locomotion on Dynamic Rigid Surfaces

Legged robot locomotion on a dynamic rigid surface (i.e., a rigid surfac...

Fast and Continuous Foothold Adaptation for Dynamic Locomotion through Convolutional Neural Networks

Legged robots can outperform wheeled machines for most navigation tasks ...

Calico: Relocatable On-cloth Wearables with Fast, Reliable, and Precise Locomotion

We explore Calico, a miniature relocatable wearable system with fast and...

Please sign up or login with your details

Forgot password? Click here to reset