caa a22 4500 555285588 20190822030954.0 cr unu---uuuuu 190206e201904 xx s 000 0 eng 10.3929/ethz-b-000322720 doi 10.1109/LRA.2019.2896732 doi (ETHRESEARCH)oai:www.research-collection.ethz.ch:20.500.11850/322720 Haptic Inspection of Planetary Soils with Legged Robots [Elektronische Daten] [Hendrik Kolvenbach, Christian Bärtschi, Lorenz; id_orcid 0000-0001-5148-754X Wellhausen, Ruben Grandia, Marco; id_orcid 0000-0002-4285-4990 Hutter] Open access ethresearch Planetary exploration robots encounter challenging terrain during operation. Vision-based approaches have failed to reliably predict soil characteristics in the past, making it necessary to probe the terrain tactilely. We present a robust, haptic inspection approach for a variety of fine, granular media, which are representative of Martian soil. In our approach, the robot uses one limb to perform an impact trajectory, while supporting the main body with the remaining three legs. The resulting vibration, which is recorded by sensors placed in the foot, is decomposed using the discrete wavelet transform and assigned a soil class by a Support Vector Machine. We tested two foot designs and validated the robustness of this approach through the extensive use of an open-source dataset, which we recorded on a specially designed single-foot testbed. A remarkable overall classification accuracy of more than 98% could be achieved despite various introduced disturbances. The contributions of the different sensors to the classification performance are evaluated. Finally, we test the generalization performance on unknown soils and show that the interaction behavior can be anticipated. In Copyright - Non-Commercial Use Permitted http://rightsstatements.org/page/InC-NC/1.0 ethresearch Force and Tactile Sensing ethresearch Inspection ethresearch Legged robots ethresearch Terramechanics ethresearch Space robotics ethresearch Kolvenbach Hendrik joint author Bärtschi Christian joint author Wellhausen Lorenz; id_orcid 0000-0001-5148-754X joint author Grandia Ruben joint author Hutter Marco; id_orcid 0000-0002-4285-4990 joint author IEEE Robotics and Automation Letters New York, NY : IEEE 4 (2), pp. 1626-1632 2377-3766 http://hdl.handle.net/20.500.11850/322720 text/html WWW-Backlink auf das Repository (Open access) 1 Journal Article ethresearch ETHRESEARCH 856 40 http://hdl.handle.net/20.500.11850/322720 text/html WWW-Backlink auf das Repository (Open access) ETHRESEARCH 700 1- Kolvenbach Hendrik joint author ETHRESEARCH 700 1- Bärtschi Christian joint author ETHRESEARCH 700 1- Wellhausen Lorenz; id_orcid 0000-0001-5148-754X joint author ETHRESEARCH 700 1- Grandia Ruben joint author ETHRESEARCH 700 1- Hutter Marco; id_orcid 0000-0002-4285-4990 joint author ETHRESEARCH 773 0- IEEE Robotics and Automation Letters New York, NY : IEEE 4 (2), pp. 1626-1632 2377-3766 BK010053 XK010053 XK010000 ETHRESEARCH ETHRESEARCH ETHRESEARCH Journal Article Open access