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To the Robotics and Cybernetics Group (ROBCIB UPM-CSIC) at the Universidad Politecnica de Madrid, whose management and funding facilitated the development of this work.

Analysis of institutional authors

Cruz Ulloa, ChristyanCorresponding AuthorOrbea, DavidAuthorDel Cerro, JaimeAuthorBarrientos, AntonioAuthor

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March 22, 2025
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Proceedings Paper
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Probabilistic Terrain Analysis Using Semantic Criteria for Legged Robot Locomotion

Publicated to:2024 7th Iberian Robotics Conference, Robot 2024. - 2024-01-01 (), DOI: 10.1109/ROBOT61475.2024.10796929

Authors: Cruz Ulloa, Christyan; Zaramalilea, Miguel; Orbea, David; del Cerro, Jaime; Barrientos, Antonio

Affiliations

Univ Politecn Madrid, Ctr Automat & Robot UPM CSIC, Madrid, Spain - Author

Abstract

In legged robotics locomotion, extracting comprehensive local information from terrain is essential for generating specific leg motions and navigating through unstructured areas. This involves identifying the environment and obstacles, thoroughly characterizing these elements, and defining the best areas to place the legs. Most state-of-the-art methods focus on navigating unstructured terrain only using height analysis, which, although reliable, does not consider the steadiness of the elements of the ground. This paper aims to enhance legged robot motion in unstructured terrain by precisely defining stability zones and leg support points. The primary method for obstacle identification and optimal foothold selection relies on a semantic-based criterion that considers the stability probabilities of each terrain element. A CNN has been trained to address probabilistic characterization. For applicability in a quadrupedal robot, methodology includes discretizing image regions, grouping pixels according to detections, associating discretized regions with the actual depth of the environment, and transforming coordinate systems from RGB-D camera to world-robot. Algorithms of the proposed method are found in the authors' GitHub repository.

Keywords

Adversarial machine learningDeep learningImage segmentationIndustrial robotsIntelligent robotsLegged robotLegged roboticsLegged robotsMicrorobotsMultipurpose robotsNanorobotsProbabilisticsQuadruped robotQuadruped robotsRobot learningRobot locomotionRobotic perceptionRobotics perceptionSemantic criteriaStability criteriaTerrain analysiTerrain analysisUnstructured terrain

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Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2025-07-16:

  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 2 (PlumX).

Leadership analysis of institutional authors

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (CRUZ ULLOA, CHRISTYAN) and Last Author (BARRIENTOS CRUZ, ANTONIO).

the author responsible for correspondence tasks has been CRUZ ULLOA, CHRISTYAN.