Walking of 6 legged locomotion robot in rough terrain with 3D stereo vision

Abstract

Exact recognition of outside is indispensable for autonomous walking of legged locomotion robot to in the real environments. Our aim is stable walking of the robot that has the stereo vision system and regards the real environments as 3D frames with it. A hierarchical navigation is adopted in the trajectory plan. It is composed of the following four parts which are measure of surrounding environment, map making, trajectory plan and moving by repeating this execution.