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Robotics 2016, 5(4), 19; doi:10.3390/robotics5040019

Terrain Perception in a Shape Shifting Rolling-Crawling Robot

1
Department of Advanced Multidisciplinary Engineering, Tokyo Denki University, Tokyo 120-8551, Japan
2
Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore 487372, Singapore
3
Department of Biomedical Engineering, National University of Singapore, Singapore 117583, Singapore
4
Department of Robotics and Mechatronics, Tokyo Denki University, Tokyo 120-8551, Japan
5
SUTD-JTC I
*
Author to whom correspondence should be addressed.
Academic Editor: Huosheng Hu
Received: 30 July 2016 / Revised: 26 August 2016 / Accepted: 2 September 2016 / Published: 27 September 2016
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Abstract

Terrain perception greatly enhances the performance of robots, providing them with essential information on the nature of terrain being traversed. Several living beings in nature offer interesting inspirations which adopt different gait patterns according to nature of terrain. In this paper, we present a novel terrain perception system for our bioinspired robot, Scorpio, to classify the terrain based on visual features and autonomously choose appropriate locomotion mode. Our Scorpio robot is capable of crawling and rolling locomotion modes, mimicking Cebrenus Rechenburgi, a member of the huntsman spider family. Our terrain perception system uses Speeded Up Robust Feature (SURF) description method along with color information. Feature extraction is followed by Bag of Word method (BoW) and Support Vector Machine (SVM) for terrain classification. Experiments were conducted with our Scorpio robot to establish the efficacy and validity of the proposed approach. In our experiments, we achieved a recognition accuracy of over 90% across four terrain types namely grass, gravel, wooden deck, and concrete. View Full-Text
Keywords: terrain perception; reconfigurable robot; support vector machine; rolling-crawling locomotion; bag-of-words terrain perception; reconfigurable robot; support vector machine; rolling-crawling locomotion; bag-of-words
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Masataka, F.; Mohan, R.E.; Tan, N.; Nakamura, A.; Pathmakumar, T. Terrain Perception in a Shape Shifting Rolling-Crawling Robot. Robotics 2016, 5, 19.

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