Locomotion Strategy Selection for a Hybrid Mobile Robot Using Time of Flight Depth Sensor

Figure 13

150-second segment from the real-time locomotion experiment showing the terrain classification results (a), corresponding front right leg joint angles (b), and the wheel angular velocities (c). The gray shaded areas denote the manual control by the human operator activated either by the human user or by the detection of Nontraversable terrain.

(a)

(b)

(c)