Classification of terrain type using F/T signals of ANYmal's feet using Transformer architecture.
@article{BEDNAREK2022104236,
title = {HAPTR2: Improved Haptic Transformer for legged robots’ terrain classification},
journal = {Robotics and Autonomous Systems},
volume = {158},
pages = {104236},
year = {2022},
issn = {0921-8890},
doi = {https://doi.org/10.1016/j.robot.2022.104236},
url = {https://www.sciencedirect.com/science/article/pii/S0921889022001373},
author = {Michał Bednarek and Michał R. Nowicki and Krzysztof Walas},
keywords = {Legged robots, Deep learning methods, Data sets for robot learning}
}