Performance analysis and terrain classification for a legged robot over rough terrain

Minimally actuated millirobotic crawlers navigate unreliably over uneven terrain-even when designed with inherent stability-mostly because of manufacturing variabilities and a lack of good models for ground interaction. In this paper, we investigate the performance of a legged robot as it traverses three distinct rough terrains: tile, carpet, and gravel. Furthermore, we present an accurate, robust, low-lag, and efficient algorithm for terrain classification that uses vibration data from the on-board inertial measurement unit and motor control data from back-EMF sensing and magnetic encoders.