Abstract
Disaster response crawler robot OCTOPUS has four arms and four flippers for better adaptability to disaster environments. To further improve the robot mobility and terrain adaptability in unstructured terrain, we propose a new locomotion control method called compound motion pattern (CMP) for multi-limb robots like OCTOPUS. This hybrid locomotion by cooperating the arms and flippers would be effective to adapt to the unstructured terrain due to combining the advantages of crawling and walking. As a preliminary study on CMP, we proposed a fundamental and conceptual CMP while clarifying problems in constructing CMP, and developed a semi-autonomous control system for realizing the CMP. Electrically-driven OCTOPUS was used to verify the reliability and correctness of CMP. Results of experiments on climbing a step indicate that the proposed control system could obtain relatively accurate terrain information and the CMP enabled the robot to climb the step. We thus confirmed that the proposed CMP would be effective to increase terrain adaptability of robot in unstructured environment, and it would be a useful locomotion method for advanced disaster response robots.
| Original language | English |
|---|---|
| Title of host publication | IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 2704-2709 |
| Number of pages | 6 |
| Volume | 2017-September |
| ISBN (Electronic) | 9781538626825 |
| DOIs | |
| Publication status | Published - 2017 Dec 13 |
| Event | 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada Duration: 2017 Sep 24 → 2017 Sep 28 |
Other
| Other | 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 |
|---|---|
| Country | Canada |
| City | Vancouver |
| Period | 17/9/24 → 17/9/28 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications
Cite this
A semi-autonomous compound motion pattern using multi-flipper and multi-arm for unstructured terrain traversal. / Chen, Kui; Kamezaki, Mitsuhiro; Katano, Takahiro; Kaneko, Taisei; Azuma, Kohga; Ishida, Tatsuzo; Seki, Masatoshi; Ichiryu, Ken; Sugano, Shigeki.
IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2017-September Institute of Electrical and Electronics Engineers Inc., 2017. p. 2704-2709 8206096.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - A semi-autonomous compound motion pattern using multi-flipper and multi-arm for unstructured terrain traversal
AU - Chen, Kui
AU - Kamezaki, Mitsuhiro
AU - Katano, Takahiro
AU - Kaneko, Taisei
AU - Azuma, Kohga
AU - Ishida, Tatsuzo
AU - Seki, Masatoshi
AU - Ichiryu, Ken
AU - Sugano, Shigeki
PY - 2017/12/13
Y1 - 2017/12/13
N2 - Disaster response crawler robot OCTOPUS has four arms and four flippers for better adaptability to disaster environments. To further improve the robot mobility and terrain adaptability in unstructured terrain, we propose a new locomotion control method called compound motion pattern (CMP) for multi-limb robots like OCTOPUS. This hybrid locomotion by cooperating the arms and flippers would be effective to adapt to the unstructured terrain due to combining the advantages of crawling and walking. As a preliminary study on CMP, we proposed a fundamental and conceptual CMP while clarifying problems in constructing CMP, and developed a semi-autonomous control system for realizing the CMP. Electrically-driven OCTOPUS was used to verify the reliability and correctness of CMP. Results of experiments on climbing a step indicate that the proposed control system could obtain relatively accurate terrain information and the CMP enabled the robot to climb the step. We thus confirmed that the proposed CMP would be effective to increase terrain adaptability of robot in unstructured environment, and it would be a useful locomotion method for advanced disaster response robots.
AB - Disaster response crawler robot OCTOPUS has four arms and four flippers for better adaptability to disaster environments. To further improve the robot mobility and terrain adaptability in unstructured terrain, we propose a new locomotion control method called compound motion pattern (CMP) for multi-limb robots like OCTOPUS. This hybrid locomotion by cooperating the arms and flippers would be effective to adapt to the unstructured terrain due to combining the advantages of crawling and walking. As a preliminary study on CMP, we proposed a fundamental and conceptual CMP while clarifying problems in constructing CMP, and developed a semi-autonomous control system for realizing the CMP. Electrically-driven OCTOPUS was used to verify the reliability and correctness of CMP. Results of experiments on climbing a step indicate that the proposed control system could obtain relatively accurate terrain information and the CMP enabled the robot to climb the step. We thus confirmed that the proposed CMP would be effective to increase terrain adaptability of robot in unstructured environment, and it would be a useful locomotion method for advanced disaster response robots.
UR - http://www.scopus.com/inward/record.url?scp=85041961010&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85041961010&partnerID=8YFLogxK
U2 - 10.1109/IROS.2017.8206096
DO - 10.1109/IROS.2017.8206096
M3 - Conference contribution
AN - SCOPUS:85041961010
VL - 2017-September
SP - 2704
EP - 2709
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
ER -