Crawling motion and foot trajectory modification control for legged robot on rough terrain

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

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

    2 Citations (Scopus)

    Abstract

    In this paper, we propose a crawling motion to reduce the risk of malfunction due to falling when a legged robot travels across rough terrain. This locomotion method includes a phase in which the torso of the robot comes into contact with the ground to lower its center of mass compared with that during conventional bipedal or quadrupedal walking motion. In rough terrain, the ability of a robot to crawl is very likely to be hindered since its feet may encounter holes or protrusions caused by road surface damage. To avoid this issue, we suggest a modified foot trajectory control method based on information obtained by force and attitude angle sensors. To verify the effectiveness of the proposed crawling motion on rough terrain, we created a terrain model using a dynamics simulator and conducted an experiment by applying the proposed control method to a four-limbed robot traveling across the modelled terrain. The experimental results confirmed that a robot can successfully traverse rough terrain using the proposed crawling motion and that the foot trajectory modification control method can enhance the performance of the robot during such motion.

    Original languageEnglish
    Title of host publication2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages1976-1982
    Number of pages7
    ISBN (Electronic)9781509067572
    DOIs
    Publication statusPublished - 2017 Aug 23
    Event14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 - Takamatsu, Japan
    Duration: 2017 Aug 62017 Aug 9

    Other

    Other14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
    CountryJapan
    CityTakamatsu
    Period17/8/617/8/9

    Keywords

    • Crawling
    • Disaster Response
    • Legged Robot

    ASJC Scopus subject areas

    • Control and Optimization
    • Instrumentation
    • Artificial Intelligence
    • Industrial and Manufacturing Engineering
    • Mechanical Engineering

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  • Cite this

    Matsuzawa, T., Koizumi, A., Hashimoto, K., Sun, X., Hamamoto, S., Teramachi, T., Sakai, N., Kimura, S., & Takanishi, A. (2017). Crawling motion and foot trajectory modification control for legged robot on rough terrain. In 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017 (pp. 1976-1982). [8016121] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2017.8016121