Making a hexapod walk down stairs

asked 2014-11-16 22:09:04 -0500

Cerin gravatar image

I know it's a non-trivial problem, but is there any prior-art or existing code for using ROS to get a basic dynamixel-actuated 12-DOF hexapod (or any similar legged platform) to autonomously walk up and down stairs? What sensors would be required? I can't find much through Google with or without ROS. Most of the results just show robots that are either remote controlled or can only walk in perfectly flat obstacle-free environments...which seems to defeat the purpose a legged platform.

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There is probably nothing out of the box. I guess it is a really hard problem. Mostly legged plaforms have the advantage that they can walk on uneven terrain with reliable odometry. I would search for some papers on it.

AReimann gravatar image AReimann  ( 2014-11-23 19:55:22 -0500 )edit