A semi-autonomous compound motion pattern using multi-flipper and multi-arm for unstructured terrain traversal

Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2704-2709
Number of pages6
Volume2017-September
ISBN (Electronic)9781538626825
DOIs
Publication statusPublished - 2017 Dec 13
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
Duration: 2017 Sep 242017 Sep 28

Other

Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
CountryCanada
CityVancouver
Period17/9/2417/9/28

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Chen, K., Kamezaki, M., Katano, T., Kaneko, T., Azuma, K., Ishida, T., Seki, M., Ichiryu, K., & Sugano, S. (2017). A semi-autonomous compound motion pattern using multi-flipper and multi-arm for unstructured terrain traversal. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2017-September, pp. 2704-2709). [8206096] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2017.8206096