3D-Terrain Map Generation And Surface Classification for SpaceClimber Robot

The project SpaceClimber is currently under development. The different surfaces viz. rocky surface, sand etc encountered during navigation would provide additional information which assist in route planning. A foot whose sole is made of polyurethane is used as the test specimen. Experiments have been conducted on the Test Bench in the Legged Lab on 4 different substrates: aluminium plate, foam sheet, plastic box and fine black sand respectively. Different loading profiles were used to obtain sensor data as the foot interacts with the substrates. This data was analysed using MATLAB and all the results would be presented in this talk.