Context-based Locomotion Control for Legged Exploration Systems

Walking robots controlled with behavior-based approaches are well suited to explore unstructured terrain. Their reactive behaviors are able to control the complex locomotor system to overcome obstacles and inclines without the need of planning. But especially in space or search and rescue missions, high mobility has to be paired with maximum stability or energy efficiency. In addition, the possibility of walking machines to adapt to diverse environments offers many parameters to influence the robot's locomotion behavior, which can lead to an unmanageable task load if the difficulty of a mission increases.
The proposed context-based control approach shall autonomously configure the locomotion layer according to the actual context, i.e., the actual state and the given tasks. The control principle comprises two major functionalities: Generating the context and configuring the behaviors of the locomotion layer. The talk presents the overall concept and focuses on the behavior configuration part.

In der Regel sind die Vorträge Teil von Lehrveranstaltungsreihen der Universität Bremen und nicht frei zugänglich. Bei Interesse wird um Rücksprache mit dem Sekretariat unter sek-ric(at)dfki.de gebeten.

last updated 31.03.2023