Foot placement optimisation for a hexapod robot on uneven terrain using heightmaps

Abstract

This paper presents a method for selecting the optimal foot placement for a hexapod robot to facilitate travel over uneven terrain. This is achieved by using an RGB-D (Red Green Blue - Depth) camera to generate a heightmap in real time as the robot walks. The heightmap is then analysed using a convolution matrix to identify areas suitable for foot placement, where the slope of terrain, proximity to steep edges, and distance from the robot are considered. Based on these factors, the foot placement positions for the hexapod are optimised for each step.