| Issue |
MATEC Web Conf.
Volume 406, 2024
2024 RAPDASA-RobMech-PRASA-AMI Conference: Unlocking Advanced Manufacturing - The 25th Annual International RAPDASA Conference, joined by RobMech, PRASA and AMI, hosted by Stellenbosch University and Nelson Mandela University
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| Article Number | 04005 | |
| Number of page(s) | 12 | |
| Section | Robotics and Mechatronics | |
| DOI | https://doi.org/10.1051/matecconf/202440604005 | |
| Published online | 09 December 2024 | |
Foot placement optimisation for a hexapod robot on uneven terrain using heightmaps
University of Stellenbosch, Electrical and Electronic Engineering, Stellenbosch, South Africa
This paper presents a method for selecting the optimal foot placement for a hexapod robot to facilitate travel over uneven terrain. This is achieved by using an RGB-D (Red Green Blue - Depth) camera to generate a heightmap in real time as the robot walks. The heightmap is then analysed using a convolution matrix to identify areas suitable for foot placement, where the slope of terrain, proximity to steep edges, and distance from the robot are considered. Based on these factors, the foot placement positions for the hexapod are optimised for each step.
© The Authors, published by EDP Sciences, 2024
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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