Crawling gait for four-limbed robot and simulation on uneven terrain

Takashi Matsuzawa; Ayanori Koizumi; Kenji Hashimoto; Xiao Sun; Shinya Hamamoto; Tomotaka Teramachi; Shunsuke Kimura; Nobuaki Sakai; Atsuo Takanishi

doi:10.1109/HUMANOIDS.2016.7803433

Crawling gait for four-limbed robot and simulation on uneven terrain

Takashi Matsuzawa, Ayanori Koizumi, Kenji Hashimoto, Xiao Sun, Shinya Hamamoto, Tomotaka Teramachi, Shunsuke Kimura, Nobuaki Sakai, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 Citations (Scopus)

Abstract

Crawling motion by a robot is effective for reducing shock in the case of a fall. It thus decreases the possibility of a locomotion malfunction on uneven terrain. In this paper, the control of crawling motion on uneven terrain is described. Firstly, crawling motion and detailed motion are explained. Then, a method for controlling crawling motion is outlined for its realization. To verify the effectiveness of the proposed method for locomotion on uneven terrain, rough rubble ground was generated in a dynamics simulator and the crawling method was applied to our developed four-limbed robot. Additionally, a crawler robot was generated. A comparison was conducted to verify the difference in locomotion capabilities between the proposed method and other locomotion styles. The simulation results confirmed that the proposed method enabled successful locomotion of our four-limbed robot on uneven terrain.

Original language	English
Title of host publication	Humanoids 2016 - IEEE-RAS International Conference on Humanoid Robots
Publisher	IEEE Computer Society
Pages	1270-1275
Number of pages	6
ISBN (Electronic)	9781509047185
DOIs	https://doi.org/10.1109/HUMANOIDS.2016.7803433
Publication status	Published - 2016 Dec 30
Event	16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 - Cancun, Mexico Duration: 2016 Nov 15 → 2016 Nov 17

Other

Other	16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016
Country	Mexico
City	Cancun
Period	16/11/15 → 16/11/17

Fingerprint

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Hardware and Architecture
Human-Computer Interaction
Electrical and Electronic Engineering

Cite this

Matsuzawa, T., Koizumi, A., Hashimoto, K., Sun, X., Hamamoto, S., Teramachi, T., Kimura, S., Sakai, N., & Takanishi, A. (2016). Crawling gait for four-limbed robot and simulation on uneven terrain. In Humanoids 2016 - IEEE-RAS International Conference on Humanoid Robots (pp. 1270-1275). [7803433] IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2016.7803433

Crawling gait for four-limbed robot and simulation on uneven terrain. / Matsuzawa, Takashi; Koizumi, Ayanori; Hashimoto, Kenji; Sun, Xiao; Hamamoto, Shinya; Teramachi, Tomotaka; Kimura, Shunsuke; Sakai, Nobuaki; Takanishi, Atsuo.

Humanoids 2016 - IEEE-RAS International Conference on Humanoid Robots. IEEE Computer Society, 2016. p. 1270-1275 7803433.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Matsuzawa, T, Koizumi, A, Hashimoto, K, Sun, X, Hamamoto, S, Teramachi, T, Kimura, S, Sakai, N & Takanishi, A 2016, Crawling gait for four-limbed robot and simulation on uneven terrain. in Humanoids 2016 - IEEE-RAS International Conference on Humanoid Robots., 7803433, IEEE Computer Society, pp. 1270-1275, 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016, Cancun, Mexico, 16/11/15. https://doi.org/10.1109/HUMANOIDS.2016.7803433

@inproceedings{c035f7aebca64646becafd401d2912ef,

title = "Crawling gait for four-limbed robot and simulation on uneven terrain",

abstract = "Crawling motion by a robot is effective for reducing shock in the case of a fall. It thus decreases the possibility of a locomotion malfunction on uneven terrain. In this paper, the control of crawling motion on uneven terrain is described. Firstly, crawling motion and detailed motion are explained. Then, a method for controlling crawling motion is outlined for its realization. To verify the effectiveness of the proposed method for locomotion on uneven terrain, rough rubble ground was generated in a dynamics simulator and the crawling method was applied to our developed four-limbed robot. Additionally, a crawler robot was generated. A comparison was conducted to verify the difference in locomotion capabilities between the proposed method and other locomotion styles. The simulation results confirmed that the proposed method enabled successful locomotion of our four-limbed robot on uneven terrain.",

author = "Takashi Matsuzawa and Ayanori Koizumi and Kenji Hashimoto and Xiao Sun and Shinya Hamamoto and Tomotaka Teramachi and Shunsuke Kimura and Nobuaki Sakai and Atsuo Takanishi",

year = "2016",

month = dec

day = "30",

doi = "10.1109/HUMANOIDS.2016.7803433",

language = "English",

pages = "1270--1275",

booktitle = "Humanoids 2016 - IEEE-RAS International Conference on Humanoid Robots",

publisher = "IEEE Computer Society",

address = "United States",

note = "16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 ; Conference date: 15-11-2016 Through 17-11-2016",

}

TY - GEN

T1 - Crawling gait for four-limbed robot and simulation on uneven terrain

AU - Matsuzawa, Takashi

AU - Koizumi, Ayanori

AU - Hashimoto, Kenji

AU - Sun, Xiao

AU - Hamamoto, Shinya

AU - Teramachi, Tomotaka

AU - Kimura, Shunsuke

AU - Sakai, Nobuaki

AU - Takanishi, Atsuo

PY - 2016/12/30

Y1 - 2016/12/30

N2 - Crawling motion by a robot is effective for reducing shock in the case of a fall. It thus decreases the possibility of a locomotion malfunction on uneven terrain. In this paper, the control of crawling motion on uneven terrain is described. Firstly, crawling motion and detailed motion are explained. Then, a method for controlling crawling motion is outlined for its realization. To verify the effectiveness of the proposed method for locomotion on uneven terrain, rough rubble ground was generated in a dynamics simulator and the crawling method was applied to our developed four-limbed robot. Additionally, a crawler robot was generated. A comparison was conducted to verify the difference in locomotion capabilities between the proposed method and other locomotion styles. The simulation results confirmed that the proposed method enabled successful locomotion of our four-limbed robot on uneven terrain.

AB - Crawling motion by a robot is effective for reducing shock in the case of a fall. It thus decreases the possibility of a locomotion malfunction on uneven terrain. In this paper, the control of crawling motion on uneven terrain is described. Firstly, crawling motion and detailed motion are explained. Then, a method for controlling crawling motion is outlined for its realization. To verify the effectiveness of the proposed method for locomotion on uneven terrain, rough rubble ground was generated in a dynamics simulator and the crawling method was applied to our developed four-limbed robot. Additionally, a crawler robot was generated. A comparison was conducted to verify the difference in locomotion capabilities between the proposed method and other locomotion styles. The simulation results confirmed that the proposed method enabled successful locomotion of our four-limbed robot on uneven terrain.

UR - http://www.scopus.com/inward/record.url?scp=85010191186&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85010191186&partnerID=8YFLogxK

U2 - 10.1109/HUMANOIDS.2016.7803433

DO - 10.1109/HUMANOIDS.2016.7803433

M3 - Conference contribution

AN - SCOPUS:85010191186

SP - 1270

EP - 1275

BT - Humanoids 2016 - IEEE-RAS International Conference on Humanoid Robots

PB - IEEE Computer Society

T2 - 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016

Y2 - 15 November 2016 through 17 November 2016

ER -

Access to Document

10.1109/HUMANOIDS.2016.7803433