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1 March 1991Terrain adaptive footfall placement using real-time range images
This paper discusses the design of a four-legged robot which has a laser mounted on each leg which provides a real-time high-definition range image of the ground surroundings about each leg. A means of terrain classification using fractals and methods for the automatic extraction of information from the range images having implications for footfall placement are provided.
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David R. Dodds, "Terrain adaptive footfall placement using real-time range images," Proc. SPIE 1388, Mobile Robots V, (1 March 1991); https://doi.org/10.1117/12.48098