Vision‐Guided Six‐Legged Walking of Little Crabster Using a Kinect Sensor

Jung Yup Kim, Min Jong Park, Sungjun Kim, Dongjun Shin

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


A conventional blind walking algorithm has low walking stability on uneven terrain because a robot cannot rapidly respond to height changes of the ground due to limited information from foot force sensors. In order to cope with rough terrain, it is essential to obtain 3D ground information. Therefore, this paper proposes a vision‐guided six‐legged walking algorithm for stable walking on uneven terrain. We obtained noise‐filtered 3D ground information by using a Kinect sensor and experimentally derived coordinate transformation information between the Kinect sensor and robot body. While generating landing positions of the six feet from the predefined walking parameters, the proposed algorithm modifies the landing positions in terms of reliability and safety using the obtained 3D ground information. For continuous walking, we also propose a ground merging algorithm and successfully validate the performance of the proposed algorithms through walking experiments on a treadmill with obstacles.

Original languageEnglish
Article number2140
JournalApplied Sciences (Switzerland)
Issue number4
Publication statusPublished - 2022 Feb 1

Bibliographical note

Publisher Copyright:
© 2022 by the authors. Licensee MDPI, Basel, Switzerland.

All Science Journal Classification (ASJC) codes

  • General Materials Science
  • Instrumentation
  • General Engineering
  • Process Chemistry and Technology
  • Computer Science Applications
  • Fluid Flow and Transfer Processes


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