Most legged robots must negotiate unknown environments with little or no terrain knowledge, as autonomous terrain mapping for robots is limited. A predictive terrain contour mapping strategy is proposed, which employs the use of a feed-forward neural network to predict the contours in environments, based on the positions of the neighboring legs. The predicted performance is better than previous implementations.
['Stephen Urwin-wright', 'David Sanders', 'Sheng Chen']
Terrain prediction for an eight‐legged robot