TY - GEN
T1 - Proprioception and Reaction for Walking Among Entanglements
AU - Yim, Justin K.
AU - Ren, Jiming
AU - Ologan, David
AU - Gonzalez, Selvin Garcia
AU - Johnson, Aaron M.
N1 - This work was supported in part by the National Science Foundation under Grant CCF-2030859 to the Computing Research Association for the CIFellows Project, Grant ECCS-1924723, the GEM Consortium Fellowship, and by funding award #HQ00342110020 from the National Defense Education Program.
PY - 2023
Y1 - 2023
N2 - Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings, and more so than wheeled or tracked platforms, but naive controllers quickly become entangled and stuck. In this paper we present a method for proprioception aimed specifically at the task of sensing entanglements of a robot's legs as well as a reaction strategy to disentangle legs during their swing phase as they advance to their next foothold. We demonstrate our proprioception and reaction strategy enables traversal of entanglements of many stiffnesses and geometries succeeding in 14 out of 16 trials in laboratory tests, as well as a natural outdoor environment.
AB - Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings, and more so than wheeled or tracked platforms, but naive controllers quickly become entangled and stuck. In this paper we present a method for proprioception aimed specifically at the task of sensing entanglements of a robot's legs as well as a reaction strategy to disentangle legs during their swing phase as they advance to their next foothold. We demonstrate our proprioception and reaction strategy enables traversal of entanglements of many stiffnesses and geometries succeeding in 14 out of 16 trials in laboratory tests, as well as a natural outdoor environment.
UR - http://www.scopus.com/inward/record.url?scp=85182526466&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85182526466&partnerID=8YFLogxK
U2 - 10.1109/IROS55552.2023.10341986
DO - 10.1109/IROS55552.2023.10341986
M3 - Conference contribution
AN - SCOPUS:85182526466
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2760
EP - 2767
BT - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Y2 - 1 October 2023 through 5 October 2023
ER -