To be practical, humanoid robots must be able to manoeuvre over a variety of flat and uneven terrains, at different speeds and with varying gaits and motions. This paper describes three balancingreflex algorithms (threshold control, PID control, and hybrid control) that were implemented on a real 8 DOF small humanoid robot equipped with a two-axis accelerometer sensor to study the capabilities ...

To be practical, humanoid robots must be able to manoeuvre over a variety of flat and uneven terrains, at different speeds and with varying gaits and motions. This paper describes three balancing-reflex algorithms (threshold control, PID control, and hybrid control) that were implemented on a real 8 DOF robot equipped with only an accelerometer sensor to study the capabilities and limitations o...

Recent man-made or physical disasters, such as the Deepwater Horizon oil spill and the Fukushima Dai-ichi nuclear crisis, have highlighted the enormous potential of robots capable to perform hazardous activities during disaster response operations1, resulting in a growing interest in Urban Search And Rescue (USAR) robotic research worldwide. In this context, initiatives such as the DARPA Roboti...

This paper addresses the mobile robot motion planning problem in outdoor environments, which are large, sparsely occupied workspaces with uneven terrains. We present results in path planning using an efficient discretization method based on Constrained Delaunay Triangulation (CDT) and classical graph searching algorithms. CDT has been proven to be a good method for representing complex shaped o...

Fast surface reconstruction from dense point clouds data(PCD) is a popular topic in robotics. However, it is still challenging to make large-scale surface maps with sparse PCD. This paper proposes a method to build surface maps using the PCD generated by velodyner HDL32E laser scanner, which is wildly used in automatic driving vehicles and wild exploring robots. Supervoxel clustering method is ...

Wheel-based locomotion is the most commonly used by mobile robots, due to its simplicity and robustness. However, when facing uneven terrain, such as steps or rocky terrain, its mobility is greatly reduced. Biped robots, in contrast, have a greater adaptation potential to these challenges due to the suitability of its structure. In spite of this, the traditional biped locomotion methods used by...

High-resolution digital elevation models (DEMs) are important for relevant geoscience research and practical applications. Compared with traditional hardware-based methods, super-resolution (SR) reconstruction techniques currently low-cost feasible methods used obtaining high-resolution DEMs. Single-image (SISR) have become popular in DEM SR recent years. However, has not yet utilized reference...

This paper introduces a walking pattern generation method on an inclined terrain in both pitch and roll directions, and uneven terrain. The walking pattern generation method is based on a modifiable walking pattern generator (MWPG) which allows a zero moment point (ZMP) variation in real-time. As a navigational command set, a 3-D command state (CS) is defined, which consists of single and doubl...