Autonomous Obstacle Legipulation with a Hexapod Robot

Understand

Legged robots traversing in confined environments could find their only path is blocked by obstacles.

• In circumstances where the obstacles are movable, a multilegged robot can manipulate the obstacles using its legs to allow it to continue on its path.
• We present a method for a hexapod robot to autonomously generate manipulation trajectories for detected obstacles.
• Using a RGB-D sensor as input, the obstacle is extracted from the environment and filtered to provide key contact points for the manipulation algorithm to calculate a trajectory to move the obstacle out of the path.