4 papers
SlipSense: Multimodal Sensing for Online Slip Detection in Legged Robots
Iris Szu-Yao Liu, Chien Chern Cheah, Meng Yee Michael Chuah
Legged robots rely on accurate ground interaction awareness to traverse variable terrains, such as slippery surfaces. Existing slip detection methods often rely on kinematics and p…
Tactile Aware Dynamic Obstacle Avoidance in Crowded Environment with Deep Reinforcement Learning
Yung Chuen Ng, Qi Wen Shervina Lim, Chun Ye Tan +2
Mobile robots operating in crowded environments require the ability to navigate among humans and surrounding obstacles efficiently while adhering to safety standards and socially c…
Real-time Digital Double Framework to Predict Collapsible Terrains for Legged Robots
Garen Haddeler, Hari P. Palanivelu, Yung Chuen Ng +5
Inspired by the digital twinning systems, a novel real-time digital double framework is developed to enhance robot perception of the terrain conditions. Based on the very same phys…
Traversability analysis with vision and terrain probing for safe legged robot navigation
Garen Haddeler, Meng Yee Michael Chuah, Yangwei You +4
Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to ad…