The Influence of Micro-Hexapod Walking-Induced Pose Changes on LiDAR-SLAM Mapping Performance
Author:
Seki Hiroshi1, Yamamoto Yuhi1, Nagasawa Sumito2ORCID
Affiliation:
1. Mechanical Engineering, Graduate School of Engineering and Science, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan 2. Department of Engineering Science and Mechanics, College of Engineering, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan
Abstract
Micro-hexapods, well-suited for navigating tight or uneven spaces and suitable for mass production, hold promise for exploration by robot groups, particularly in disaster scenarios. However, research on simultaneous localization and mapping (SLAM) for micro-hexapods has been lacking. Previous studies have not adequately addressed the development of SLAM systems considering changes in the body axis, and there is a lack of comparative evaluation with other movement mechanisms. This study aims to assess the influence of walking on SLAM capabilities in hexapod robots. Experiments were conducted using the same SLAM system and LiDAR on both a hexapod robot and crawler robot. The study compares map accuracy and LiDAR point cloud data through pattern matching. The experimental results reveal significant fluctuations in LiDAR point cloud data in hexapod robots due to changes in the body axis, leading to a decrease in map accuracy. In the future, the development of SLAM systems considering body axis changes is expected to be crucial for multi-legged robots like micro-hexapods. Therefore, we propose the implementation of a system that incorporates body axis changes during locomotion using inertial measurement units and similar sensors.
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
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