Localizing Complex Terrains through Adaptive Submodularity

Hsuan Chi Chang, Kuo Shih Tseng

研究成果: 書貢獻/報告類型會議論文篇章同行評審

摘要

Quadrupedal robots are designed to walk over complex terrains (e.g., hills, rubble, deformable terrains, etc.) However, training quadruped robots to walk on complex terrains is a challenge. One difficulty is the problem caused by the sensors. Exteroceptive sensors such as cameras are cheap and convenient, but cameras are limited in some environments (e.g., sewers without lights). Training a legged robot using proprioceptive can avoid the aforementioned situation. This research proposes a method combining terrain curriculum and adaptive submodularity. The legged robot is able to adaptively select actions over complex terrains without exteroceptive sensors. Adaptive submodularity is utilized to predict the terrain and take sequential actions with theoretical guarantees. The experiments demonstrate the proposed approach has fewer prediction errors than the random approach.

原文???core.languages.en_GB???
主出版物標題SSRR 2022 - IEEE International Symposium on Safety, Security, and Rescue Robotics
發行者Institute of Electrical and Electronics Engineers Inc.
頁面138-144
頁數7
ISBN(電子)9781665456807
DOIs
出版狀態已出版 - 2022
事件2022 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2022 - Sevilla, Spain
持續時間: 8 11月 202210 11月 2022

出版系列

名字SSRR 2022 - IEEE International Symposium on Safety, Security, and Rescue Robotics

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???event.eventtypes.event.conference???2022 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2022
國家/地區Spain
城市Sevilla
期間8/11/2210/11/22

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