Collision detection in legged locomotion using supervised learning

Abstract — We propose a fast approach for detecting collision-free swing-foot trajectories for legged locomotion over extreme terrains. Instead of simulating the swing trajectories and checking for collisions along them, our approach uses machine learning techniques to predict whether a swing trajectory is collision-free. Using a set of local terrain features, we apply supervised learning to train a classifier to predict collisions. Both in simulation and on a real quadruped platform, our results show that our classifiers can improve the accuracy of collision detection compared to a real-time geometric approach without significantly increasing the computation time. I