Projects funded by the NCN

Information on the principal investigator and host institution

Information of the project and the call

Keywords

Equipment

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A new method for planning the motion of a legged robot over rough terrain and its experimental verification

2011/01/N/ST7/02080

Keywords:

walking robots motion planning field robotics

Descriptors:

  • ST7_10: Hardware implementation of algorithms
  • ST6_8: Computer graphics, image processing, computer vision, multimedia, computer games
  • ST7_4: Micro- and nanosystems engineering

Panel:

ST7 - Systems and communication engineering: electronics, communication, optoelectronics

Host institution :

Politechnika Poznańska, Wydział Elektryczny

woj. wielkopolskie

Other projects carried out by the institution 

Principal investigator (from the host institution):

dr Dominik Belter 

Number of co-investigators in the project: 3

Call: PRELUDIUM 1 - announced on 2011-03-15

Amount awarded: 45 750 PLN

Project start date (Y-m-d): 2011-12-07

Project end date (Y-m-d): 2013-06-06

Project duration:: 18 months (the same as in the proposal)

Project status: Project settled

Equipment purchased [PL]

  1. Czujnik AHRS Xsense MTi development kit (10 000 PLN)

Information in the final report

  • Publication in academic press/journals (5)
  • Articles in post-conference publications (3)
  • Book publications / chapters in book publications (3)
  1. Optimization-based approach for motion planning of a robot walking on rough terrain
    Authors:
    Dominik Belter
    Academic press:
    Journal of Automation, Mobile Robotics & Intelligent Systems (rok: 2013, tom: 7(4), strony: 34-41), Wydawca: Industrial Research Institute for Automation and Measurements "PIAP"
    Status:
    Published
    DOI:
    10.14313/JAMRIS_4-2013/35 - link to the publication
  2. Sensory system calibration method for a walking robot
    Authors:
    Przemysław Łabęcki, Dominik Belter
    Academic press:
    Journal of Automation, Mobile Robotics & Intelligent Systems (rok: 2013, tom: 7, strony: 39-45), Wydawca: Industrial Research Institute for Automation and Measurements "PIAP"
    Status:
    Published
    DOI:
    nie - link to the publication
  3. Adaptive Motion Planning for Autonomous Rough Terrain Traversal with a Walking Robot
    Authors:
    Dominik Belter, Przemysław Łabęcki, Piotr Skrzypczyński
    Academic press:
    Journal of Field Robotics (rok: 2016, tom: 33(3), strony: 337-370), Wydawca: John Wiley & Sons Inc.
    Status:
    Published
    DOI:
    10.1002/rob.21610 - link to the publication
  4. Precise self-localization of a walking robot on rough terrain using parallel tracking and mapping
    Authors:
    Dominik Belter, Piotr Skrzypczyński
    Academic press:
    Industrial Robot: An International Journal (rok: 2013, tom: nie dotyczy, strony: 229-237), Wydawca: Emerald
    Status:
    Published
    DOI:
    10.1108/01439911311309924 - link to the publication
  5. Measurement Fusion Method for Indoor Localization of a Walking Robot
    Authors:
    Benedykt Jaworski, Dominik Bilicki, Dominik Belter
    Academic press:
    Pomiary Automatyka Robotyka (rok: 2013, tom: nie dotyczy, strony: 68-73), Wydawca: Przemysłowy Instytut Automatyki i Pomiarów PIAP
    Status:
    Published
    DOI:
    nie - link to the publication
  1. A Learning Approach to Terrain Traversability Assessment in Motion Planning of a Walking Robot
    Authors:
    Dominik Belter, Piotr Skrzypczyński
    Conference:
    11th IEEE International Symposium on Safety Security and Rescue Robotics (rok: 2013, ), Wydawca: IEEE
    Data:
    konferencja 21.10.2013-26.10.2013
    Status:
    Published
  2. Sensory system calibration method for a walking robot
    Authors:
    Przemysław Łabęcki, Dominik Belter
    Conference:
    1st workshop on Perception for Mobile Robots Autonomy 2012 (rok: 2012, ), Wydawca: nie dotyczy
    Data:
    konferencja 27.09.2012-28.09.2012
    Status:
    Published
  3. Posture Optimization Strategy for a Statically Stable Robot Traversing Rough Terrain
    Authors:
    Dominik Belter, Piotr Skrzypczyński
    Conference:
    IEEE/RSJ 2012 International Conference on Intelligent Robots and Systems (rok: 2012, ), Wydawca: IEEE
    Data:
    konferencja 7.10.2012-12.10-2012
    Status:
    Published
    DOI:
    link to the publication
  1. Wykorzystanie metod optymalizacji do planowania ruchu robota kroczącego
    Authors:
    Dominik Belter
    Book:
    Zeszyty Naukowe Politechniki Warszawskiej. Problemy robotyki (rok: 2012, tom: II, strony: 371-380), Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
    Status:
    Published
  2. Gait Modification Strategy for a Six-legged Robot Walking on Rough Terrain
    Authors:
    Dominik Belter
    Book:
    Adaptive Mobile Robotics (rok: 2012, tom: nie dotyczy, strony: 367-374), Wydawca: World Scientific
    Status:
    Published
  3. Precise self-localization of a walking robot on rough terrain using PTAM
    Authors:
    Dominik Belter, Piotr Skrzypczyński
    Book:
    Adaptive Mobile Robotics (rok: 2012, tom: nie dotyczy, strony: 89-96), Wydawca: World Scientific
    Status:
    Published

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