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Littérature scientifique sur le sujet « Robots de terrain »

Auteur : Grafiati

Publié le 21 décembre 2024

Mis à jour le 31 juillet 2025

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Articles de revues sur le sujet "Robots de terrain"

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Luneckas, Tomas, Mindaugas Luneckas, and Dainius Udris. "Terrain Irregularity Sensing by Evaluating Feet Coordinate Standard Deviation." Applied Sciences 15, no. 1 (2025): 411. https://doi.org/10.3390/app15010411.

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Locomotion over rough terrain is still a problem yet to be solved for legged robots. One of the problems arises from the inability to identify terrain roughness during locomotion, which could be crucial for decision-making and successful task completion. Our proposed terrain roughness method is inspired by the observation that humans can sense their limb position in space without looking at them, which allows us to estimate obstacle heights. This method is based on robot feet coordinate standard deviation (further referred to as SD) parameter evaluation. SD values could be categorized to repre

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Žák, Marek, Jaroslav Rozman, and František V. Zbořil. "Design and Control of 7-DOF Omni-directional Hexapod Robot." Open Computer Science 11, no. 1 (2020): 80–89. http://dx.doi.org/10.1515/comp-2020-0189.

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AbstractLegged robots have great potential to travel across various types of terrain. Their many degrees of freedom enable them to navigate through difficult terrains, narrow spaces or various obstacles and they can move even after losing a leg. However, legged robots mostly move quite slowly. This paper deals with the design and construction of an omni-directional seven degrees of freedom hexapod (i.e., six-legged) robot, which is equipped with omnidirectional wheels (two degrees of freedom are used, one for turning the wheel and one for the wheel itself) usable on flat terrain to increase tr

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Zhang, Yinglong, Baoru Huang, Meng Hong, Chao Huang, Guan Wang, and Min Guo. "A Terrain Classification Method for Quadruped Robots with Proprioception." Electronics 14, no. 6 (2025): 1231. https://doi.org/10.3390/electronics14061231.

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Acquiring terrain information during robot locomotion is essential for autonomous navigation, gait selection, and trajectory planning. Quadruped robots, due to their biomimetic structures, demonstrate enhanced traversability over complex terrains compared to other robotic platforms. Furthermore, the internal sensors of quadruped robots acquire rich terrain-related data during locomotion across diverse terrains. This study investigates the relationship between terrain characteristics and quadruped robots based on proprioception sensor data, and proposes a simple, efficient, and motion-independe

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ZHANG, HE, RUI WU, CHANGLE LI, et al. "ADAPTIVE MOTION PLANNING FOR HITCR-II HEXAPOD ROBOT." Journal of Mechanics in Medicine and Biology 17, no. 07 (2017): 1740040. http://dx.doi.org/10.1142/s0219519417400401.

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Multi-legged robots have the ability to traverse rugged terrain and can surmount the obstacles, which are impossible for being overcome by wheeled robots. In this regard, six-legged (hexapod) robots are considered to provide the best combination of adequate adaptability and control complexity. Their motion planning envisages calculating sequences of footsteps and body posture, accounting for the influence of terrain shape, in order to produce the appropriate foot-end trajectory and ensure stable and flexible motion of hexapod robots on the rugged terrain. In this study, a high-order polynomial

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Hao, Qian, Zhaoba Wang, Junzheng Wang, and Guangrong Chen. "Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots." Sensors 20, no. 17 (2020): 4911. http://dx.doi.org/10.3390/s20174911.

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Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough te

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Cruz Ulloa, Christyan, Lourdes Sánchez, Jaime Del Cerro, and Antonio Barrientos. "Deep Learning Vision System for Quadruped Robot Gait Pattern Regulation." Biomimetics 8, no. 3 (2023): 289. http://dx.doi.org/10.3390/biomimetics8030289.

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Robots with bio-inspired locomotion systems, such as quadruped robots, have recently attracted significant scientific interest, especially those designed to tackle missions in unstructured terrains, such as search-and-rescue robotics. On the other hand, artificial intelligence systems have allowed for the improvement and adaptation of the locomotion capabilities of these robots based on specific terrains, imitating the natural behavior of quadruped animals. The main contribution of this work is a method to adjust adaptive gait patterns to overcome unstructured terrains using the ARTU-R (A1 Res

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Sutar, Amey V., B. V. Hubballi, and Akash S. Bhosale. "Design and Development of a Four-Wheeled Mobile Robot (WMR) for Any Terrain." Journal of Mechanical Robotics 10, no. 1 (2025): 13–20. https://doi.org/10.46610/jomr.2025.v10i01.002.

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This paper presents the design, development, and analysis of an all-terrain Wheeled Mobile Robot (WMR). A Wheeled Mobile Robot (WMR) is an autonomous robot that uses wheels for locomotion, allowing it to move efficiently on flat surfaces. These robots are commonly used in various applications, from industrial automation to service robots and research platforms. The robot aims to achieve high mobility on diverse terrains, remote teleoperation, and an effective payload handling capability. The research includes the design and implementation of the mechanical structure, electronic components, con

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Hashimoto, Kenji, Yusuke Sugahara, Hun-Ok Lim, and Atsuo Takanishi. "Biped Landing Pattern Modification Method and Walking Experiments in Outdoor Environment." Journal of Robotics and Mechatronics 20, no. 5 (2008): 775–84. http://dx.doi.org/10.20965/jrm.2008.p0775.

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Many researchers have studied walking stability control for biped robots, most of which involve highly precise acceleration controls based on robot model mechanics. Modeling error, however, makes the control algorithms used difficult to apply to biped walking robots intended to transport human users. The “landing pattern modification method” we propose is based on nonlinear admittance control. Theoretical compliance displacement calculated from walking patterns is compared to actual compliance displacement, when a robot's foot contacts slightly uneven terrain. Terrain height is detected and th

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Xue, Yuquan, Liming Wang, Bi He, Yonghui Zhao, Yang Wang, and Longmei Li. "Research on Environmental Adaptability of Force–Position Hybrid Control for Quadruped Robots Based on Model Predictive Control." Electronics 14, no. 8 (2025): 1604. https://doi.org/10.3390/electronics14081604.

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This study proposes a force–position hybrid control method for quadruped robots based on the Model Predictive Control (MPC) algorithm, aiming to address the challenges of stability and adaptability in complex terrain environments. Traditional control methods for quadruped robots are often based on simplified models, neglecting the impact of complex terrains and unstructured environments on control performance. To enhance the real-world performance of quadruped robots, this paper employs the MPC algorithm to integrate force and position control to achieve precise force–position hybrid regulatio

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Chen, Yang, Yao Wu, Wei Zeng, and Shaoyi Du. "Kinematics Model Estimation of 4W Skid-Steering Mobile Robots Using Visual Terrain Classification." Journal of Robotics 2023 (October 11, 2023): 1–12. http://dx.doi.org/10.1155/2023/1632563.

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Accurate real-time kinematics model is very important for the control of a skid-steering mobile robot. In this study, the kinematics model of the skid-steering mobile robots was first designed based on instantaneous rotation centers (ICRs). Then, the extended Kalman filter (EKF) technique was applied to obtain the parameters of ICRs under the same specific terrain online. To adapt to different terrain environments, the fractal dimension-based SFTA (segmentation-based fractal texture analysis) method was used to extract features of different terrains, and the k-nearest neighbor (KNN) method was

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Thèses sur le sujet "Robots de terrain"

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Iagnemma, Karl Dubowsky S. "Mobile robots in rough terrain : estimation, motion planning, and control with application to planetary rovers /." Berlin ; New York : Springer, 2004. http://www.loc.gov/catdir/toc/fy0606/2004106986.html.

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Caurin, Glauco Augusto de Paula. "Control of walking robots on natural terrain /." [S.l.] : [s.n.], 1994. http://e-collection.ethbib.ethz.ch/show?type=diss&nr=10898.

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FAHMI, AHMED MOHAMED SHAMEL BAHAAELDEEN. "On Terrain-Aware Locomotion for Legged Robots." Doctoral thesis, Università degli studi di Genova, 2021. http://hdl.handle.net/11567/1045132.

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Legged robots are advancing towards being fully autonomous as can be seen by the recent developments in academia and industry. To accomplish breakthroughs in dynamic whole-body locomotion, and to be robust while traversing unexplored complex environments, legged robots have to be terrain aware. Terrain-Aware Locomotion (TAL) implies that the robot can perceive the terrain with its sensors, and can take decisions based on this information. The decisions can either be in planning, control, or in state estimation, and the terrain may vary in geometry or in its physical properties. TAL can

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Häselich, Marcel [Verfasser]. "Markov random field terrain classification for autonomous robots in unstructured terrain / Marcel Häselich." Koblenz : Universitätsbibliothek Koblenz, 2015. http://d-nb.info/1064986544/34.

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Guedes, Magno Edgar da Silva. "Vision based obstacle detection for all-terrain robots." Master's thesis, FCT - UNL, 2009. http://hdl.handle.net/10362/3650.

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Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores<br>This dissertation presents a solution to the problem of obstacle detection in all-terrain environments,with particular interest for mobile robots equipped with a stereo vision sensor. Despite the advantages of vision, over other kind of sensors, such as low cost, light weight and reduced energetic footprint, its usage still presents a series of challenges. These include the difficulty in dealing with the considerable am

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Alves, Nelson Miguel Rosa. "Vision based trail detection for all-terrain robots." Master's thesis, Faculdade de Ciências e Tecnologia, 2010. http://hdl.handle.net/10362/5015.

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Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores<br>Esta dissertação propõe um modelo para detecção de trilhos baseado na observação de que estes são estruturas salientes no campo visual do robô. Devido à complexidade dos ambientes naturais, uma aplicação directa dos modelos tradicionais de saliência visual não é suficientemente robusta para prever a localização dos trilhos. Tal como noutras tarefas de detecção, a robustez pode ser aumentada através da modulação da computa

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Elanjimattathil, Vijayan Aravind. "Dynamic Locomotion of Quadrupedal Robots over Rough Terrain." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-240409.

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Previous works have enabled locomotion of quadrupedal robots usingthe ZMP-based motion optimization framework on flat terrain withvarious gait patterns. Locomotion over rough terrain brings in newchallenges such as planning safe footholds for the robot, ensuring kinematicstability during locomotion and avoiding foot slippage over roughterrain etc. In this work, terrain perception is integrated into the ZMPbasedmotion optimization framework to enable robots to perform dynamiclocomotion over rough terrain.In a first step, we extend the foothold optimization framework touse processed terrain info

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Vijaykumar, R. "Motion planning for legged locomotion systems on uneven terrain /." The Ohio State University, 1988. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487335992904418.

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Weiss, Christian. "Self-Localization and terrain classification for mobile outdoor robots /." München : Verl. Dr. Hut, 2009. http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&doc_number=017311174&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA.

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Ward, Christopher Charles. "Terrain sensing and estimation for dynamic outdoor mobile robots." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/42419.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.<br>Includes bibliographical references (p. 120-125).<br>In many applications, mobile robots are required to travel on outdoor terrain at high speed. Compared to traditional low-speed, laboratory-based robots, outdoor scenarios pose increased perception and mobility challenges which must be considered to achieve high performance. Additionally, high-speed driving produces dynamic robot-terrain interactions which are normally negligible in low speed driving. This thesis presents algorithms for estimating

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Livres sur le sujet "Robots de terrain"

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Iagnemma, Karl, and Steven Dubowsky. Mobile Robots in Rough Terrain. Springer Berlin Heidelberg, 2004. http://dx.doi.org/10.1007/b94718.

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Lamon, Pierre. 3D-position tracking and control for all-terrain robots. Springer, 2008.

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Lamon, Pierre. 3D-Position Tracking and Control for All-Terrain Robots. Springer Berlin Heidelberg, 2008. http://dx.doi.org/10.1007/978-3-540-78287-2.

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Iagnemma, Karl. Mobile robots in rough terrain: Estimation, motion planning, and control with application to planetary rovers. Springer, 2010.

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Kwak, Se-Hung. Rule-based motion coordination for the Adaptive Suspension Vehicle on ternary-type terrain. Naval Postgraduate School, 1990.

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Kudriashov, Andrii, Tomasz Buratowski, Mariusz Giergiel, and Piotr Małka. SLAM Techniques Application for Mobile Robot in Rough Terrain. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-48981-6.

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Rickenbach, Mark Douglas. Correction of inertial navigation system drift errors for an autonomous land vehicle using optical radar terrain data. Naval Postgraduate School, 1987.

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Gurshtein, Ksenya, and Simonyi, eds. Experimental Cinemas in State Socialist Eastern Europe. Amsterdam University Press, 2021. http://dx.doi.org/10.5117/9789462982994.

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Was there experimental cinema behind the Iron Curtain? What forms did experiments with film take in state socialist Eastern Europe? Who conducted them, where, how, and why? These are the questions answered in this volume, the first of its kind in any language. Bringing together scholars from different disciplines, the book offers case studies from Bulgaria, Czech Republic, former East Germany, Hungary, Poland, Romania, and former Yugoslavia. Together, these contributions demonstrate the variety of makers, production contexts, and aesthetic approaches that shaped a surprisingly robust and diver

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A general model of legged locomotion on natural terrain. Kluwer Academic Publishers, 1992.

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Lamon, Pierre. 3D-Position Tracking and Control for All-Terrain Robots. Springer, 2008.

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Chapitres de livres sur le sujet "Robots de terrain"

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Hert, Susan, Sanjay Tiwari, and Vladimir Lumelsky. "A Terrain-Covering Algorithm for an AUV." In Underwater Robots. Springer US, 1996. http://dx.doi.org/10.1007/978-1-4613-1419-6_2.

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Svennebring, Jonas, and Sven Koenig. "Towards Building Terrain-Covering Ant Robots." In Ant Algorithms. Springer Berlin Heidelberg, 2002. http://dx.doi.org/10.1007/3-540-45724-0_17.

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Bhatti, Jawaad, Pejman Iravani, Andrew R. Plummer, and M. Necip Sahinkaya. "Towards Running Robots for Discontinuous Terrain." In Advances in Autonomous Robotics. Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-32527-4_59.

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Chocron, Olivier. "Evolving Modular Robots for Rough Terrain Exploration." In Mobile Robots: The Evolutionary Approach. Springer Berlin Heidelberg, 2007. http://dx.doi.org/10.1007/978-3-540-49720-2_2.

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Kennedy, Brett, Avi Okon, Hrand Aghazarian, et al. "Lemur IIb: a Robotic System for Steep Terrain Access." In Climbing and Walking Robots. Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-26415-9_129.

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Zhu, Xiaorui, Youngshik Kim, Mark Andrew Minor, and Chunxin Qiu. "Terrain-Inclination–Based Localization and Mapping." In Autonomous Mobile Robots in Unknown Outdoor Environments. CRC Press, 2017. http://dx.doi.org/10.1201/9781315151496-9.

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Nabulsi, S., M. Armada, and H. Montes. "Multiple Terrain Adaptation Approach Using Ultrasonic Sensors for Legged Robots." In Climbing and Walking Robots. Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_47.

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Palis, Rusin, Schumucker, Schneider, and Zavgorodniy. "Legged Robot with Articulated Body in Locomotion Over Complex Terrain." In Climbing and Walking Robots. Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_30.

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Fries, Terrence P. "Evolutionary Navigation of Autonomous Robots Under Varying Terrain Conditions." In Mobile Robots: The Evolutionary Approach. Springer Berlin Heidelberg, 2007. http://dx.doi.org/10.1007/978-3-540-49720-2_3.

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Mohseni-Vahed, Shahram, and Yun Qin. "Effect of Different Terrain Parameters on Walking." In Advances in Reconfigurable Mechanisms and Robots I. Springer London, 2012. http://dx.doi.org/10.1007/978-1-4471-4141-9_35.

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Actes de conférences sur le sujet "Robots de terrain"

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Manoharan, Amith, Aditya Sharma, Himani Belsare, Kaustab Pal, K. Madhava Krishna, and Arun Kumar Singh. "Bi-level Trajectory Optimization on Uneven Terrains with Differentiable Wheel-Terrain Interaction Model." In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2024. https://doi.org/10.1109/iros58592.2024.10802848.

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Datar, Aniket, Chenhui Pan, Mohammad Nazeri, Anuj Pokhrel, and Xuesu Xiao. "Terrain-Attentive Learning for Efficient 6-DoF Kinodynamic Modeling on Vertically Challenging Terrain." In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2024. https://doi.org/10.1109/iros58592.2024.10801650.

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Muenprasitivej, Kasidit, Jesse Jiang, Abdulaziz Shamsah, Samuel Coogan, and Ye Zhao. "Bipedal Safe Navigation over Uncertain Rough Terrain: Unifying Terrain Mapping and Locomotion Stability." In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2024. https://doi.org/10.1109/iros58592.2024.10802816.

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Werner, Lennart, Pedro Proença, Andreas Nüchter, and Roland Brockers. "Covariance Based Terrain Mapping for Autonomous Mobile Robots." In 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10610010.

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Wang, Guan, Xingyu Liu, Yinglong Zhang, and Min Guo. "Classifying terrain for quadruped robots based on acoustic features." In 2024 4th International Symposium on Artificial Intelligence and Intelligent Manufacturing (AIIM). IEEE, 2024. https://doi.org/10.1109/aiim64537.2024.10934443.

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Rochmanto, Raditya Artha, Bambang Supriyo, Achmad Fahrul Aji, Suryono, and Vinda Setya Kartika. "Edge Computing Based Terrain Detection System for SAR Robots." In 2025 International Conference on Computer Sciences, Engineering, and Technology Innovation (ICoCSETI). IEEE, 2025. https://doi.org/10.1109/icocseti63724.2025.11019552.

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DuPont, Edmond M., Rodney G. Roberts, Majura F. Selekwa, Carl A. Moore, and Emmanual G. Collins. "Online Terrain Classification for Mobile Robots." In ASME 2005 International Mechanical Engineering Congress and Exposition. ASMEDC, 2005. http://dx.doi.org/10.1115/imece2005-81659.

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Today’s autonomous vehicles operate in an increasingly general set of circumstances. In particular, unmanned ground vehicles (UGV’s) must be able to travel on whatever terrain the mission offers, including sand, mud, or even snow. These terrains can affect the performance and controllability of the vehicle. Like a human driver who feels his vehicle’s response to the terrain and takes appropriate steps to compensate, a UGV that can autonomously perceive its terrain can also make necessary changes to its control strategy. This article focuses on the development and application of a terrain detec

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Arunkumar, V., Devika Rajasekar, and N. Aishwarya. "A Review Paper on Mobile Robots Applications in Search and Rescue Operations." In International Conference on Future Technologies in Manufacturing, Automation, Design and Energy. Trans Tech Publications Ltd, 2023. http://dx.doi.org/10.4028/p-ip2l3t.

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Mobile robots have gained popularity in recent decades, owing to its capacity to be deployed in dangerous environments without jeopardizing humans. Mobile robotic vehicles are frequently used today to carry out tasks including environmental recognition, inspecting urbanized and industrial terrains, for search and rescue activities. Presently, search and rescue robot technology is progressing from experimental and theoretical studies towards applicability. The proper execution of a mobile robotic movement in a working environment depends on being aware of the nearby obstacles and avoiding any c

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HOEPFLINGER, MARK A., C. DAVID REMY, MARCO HUTTER, STEFAN HAAG, and ROLAND SIEGWART. "HAPTIC TERRAIN CLASSIFICATION ON NATURAL TERRAINS FOR LEGGED ROBOTS." In Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. WORLD SCIENTIFIC, 2010. http://dx.doi.org/10.1142/9789814329927_0097.

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Medeiros, Vivian Suzano, and Marco Antonio Meggiolaro. "Trajectory Optimization for Hybrid Wheeled-Legged Robots in Challenging Terrain." In VIII Workshop de Teses e Dissertações em Robótica/Concurso de Teses e Dissertações em Robótica. Sociedade Brasileira de Computação - SBC, 2020. http://dx.doi.org/10.5753/wtdr_ctdr.2020.14960.

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Wheeled-legged robots are a promising solution for agile locomotion in challenging terrain, combining the speed of the wheels with the ability of the legs to cope with unstructured environments. This paper presents a trajectory optimization framework that allows wheeled-legged robots to navigate in challenging terrain, e.g., steps, slopes, gaps, while negotiating these obstacles with dynamic motions. The framework generates the robot’s base motion as well as the wheels’ positions and contact forces along the trajectory, accounting for the terrain map and the dynamics of the robot. The knowledg

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Rapports d'organisations sur le sujet "Robots de terrain"

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Celmins, Aivars. Terrain Exploration by Autonomous Robots. Defense Technical Information Center, 2000. http://dx.doi.org/10.21236/ada383123.

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Choset, Howie. Towards Snakes and Snake Robots on Grannular Terrain. Defense Technical Information Center, 2012. http://dx.doi.org/10.21236/ada582230.

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Fuentes, Anthony, Michelle Michaels, and Sally Shoop. Methodology for the analysis of geospatial and vehicle datasets in the R language. Cold Regions Research and Engineering Laboratory (U.S.), 2021. http://dx.doi.org/10.21079/11681/42422.

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The challenge of autonomous off-road operations necessitates a robust understanding of the relationships between remotely sensed terrain data and vehicle performance. The implementation of statistical analyses on large geospatial datasets often requires the transition between multiple software packages that may not be open-source. The lack of a single, modular, and open-source analysis environment can reduce the speed and reliability of an analysis due to an increased number of processing steps. Here we present the capabilities of a workflow, developed in R, to perform a series of spatial and

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Whittaker, William. High performance robotic traverse of desert terrain. Office of Scientific and Technical Information (OSTI), 2004. http://dx.doi.org/10.2172/919198.

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Celmins, Aivars. Multimap Procedures for Robot Route Finding in Open Terrain. Defense Technical Information Center, 1999. http://dx.doi.org/10.21236/ada361084.

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Beer, Randall D. A Cockroach-Like Hexapod Robot for Natural Terrain Locomotion. Defense Technical Information Center, 1997. http://dx.doi.org/10.21236/ada326911.

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Beer, Randall D., Roger Quinn, Roy Ritzmann, and Hillel Chiel. A Cockroach-Like Hexapod Robot for Natural Terrain Locomotion. Defense Technical Information Center, 1997. http://dx.doi.org/10.21236/ada333320.

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Udengaard, Martin, and Karl Iagnemma. Design Of An Omnidirectional Mobile Robot For Rough Terrain. Defense Technical Information Center, 2007. http://dx.doi.org/10.21236/ada510606.

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Beer, Randall, Roger Quinn, Roy Ritzmann, and Hillel Chiel. A Cockroach-Like Hexapod Robot for Natural Terrain Locomotion. Defense Technical Information Center, 1998. http://dx.doi.org/10.21236/ada347557.

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Beer, Randall D. A Cockroach-Like Hexapod Robot for Natural Terrain Locomotion. Defense Technical Information Center, 1998. http://dx.doi.org/10.21236/ada358415.

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