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 | |
| 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 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Hardware and Architecture
- Human-Computer Interaction
- Electrical and Electronic Engineering
Cite this
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
}
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
ER -