Sensing and rating different environmental states: states: A basic approach exemplified on moving in unknown terrain
It is difficult to describe in an analytical way all dynamical relationships of the ground and a robot or a human. Unexpected environmental changes complicate a safe walking.Therefore it is obvious to develop a method what allows the evaluation of acoustic emissions depending on acting forces in the past and consecutive steps during walking. The analytical evaluation of the relationship between robot body and the environmental reactions and a subjective interpretation delivers bad or good steps of these anticipations. That knowledge can be â€śleavedâ€ť for further explorations. The fusion of our data and evaluation of these relationships were done by our Support Vector Machine (SVM) a fast statistical classifier. The recognizable relationships between the empirical information and that of the SVM can help to generate safe movements.
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