Terrain Perception in a Shape Shifting Rolling-Crawling Robot Article Swipe
Masataka Fuchida
,
Mohan Rajesh Elara
,
Ning Tan
,
Akio Nakamura
,
Thejus Pathmakumar
·
YOU?
·
· 2016
· Open Access
·
· DOI: https://doi.org/10.3390/robotics5040019
YOU?
·
· 2016
· Open Access
·
· DOI: https://doi.org/10.3390/robotics5040019
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.
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Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/robotics5040019
- https://www.mdpi.com/2218-6581/5/4/19/pdf?version=1474974540
- OA Status
- gold
- Cited By
- 8
- References
- 22
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2526117772
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W2526117772Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.3390/robotics5040019Digital Object Identifier
- Title
-
Terrain Perception in a Shape Shifting Rolling-Crawling RobotWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2016Year of publication
- Publication date
-
2016-09-27Full publication date if available
- Authors
-
Masataka Fuchida, Mohan Rajesh Elara, Ning Tan, Akio Nakamura, Thejus PathmakumarList of authors in order
- Landing page
-
https://doi.org/10.3390/robotics5040019Publisher landing page
- PDF URL
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https://www.mdpi.com/2218-6581/5/4/19/pdf?version=1474974540Direct link to full text PDF
- Open access
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YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
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-
https://www.mdpi.com/2218-6581/5/4/19/pdf?version=1474974540Direct OA link when available
- Concepts
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Terrain, Crawling, Robot, Artificial intelligence, Computer vision, Computer science, Support vector machine, Perception, Feature extraction, Feature (linguistics), Visual perception, Engineering, Geography, Cartography, Philosophy, Biology, Anatomy, Neuroscience, Medicine, LinguisticsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
8Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 1, 2024: 1, 2023: 1, 2022: 1, 2019: 2Per-year citation counts (last 5 years)
- References (count)
-
22Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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