Moving onto High Steps for a Four-limbed Robot with Torso Contact

T. Matsuzawa, H. Naito, T. Sato, K. Terae, M. Murakami, S. Yoshida, A. Takanishi, K. Hashimoto, T. Matsubara, K. Namura, X. Sun, A. Imai, M. Ohkawara, S. Kimura, K. Kumagai, K. Yamaguchi

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

Abstract

In this paper, we describe approaches to enable a four-limbed robot to get over a step higher than its leg with torso contact. The higher the step becomes, the more difficult it is for legged robots to get over from the viewpoint of stability and kinematic reachability. Torso landing contributes to improving stability and robustness of motion for moving onto high step because of lower center of mass (CoM) and larger support polygon, which is seldomly utilized by previous human-sized legged robots. The approaches in this paper consist of the following two components. As for hardware, spikes are arranged on the bottom of robot' s body for stable torso landing on a high step. As for motion generation, Sequential Quadratic Programming (SQP) is utilized to generate motion with torso landing to guarantee stability of robots during getting over the high step. From experiments, it is confirmed that the fourlimbed robot WAREC-I succeeded in moving onto a step with the height of 865mm.

Original languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6324-6331
Number of pages8
ISBN (Electronic)9781728140049
DOIs
Publication statusPublished - 2019 Nov
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: 2019 Nov 32019 Nov 8

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
CountryChina
CityMacau
Period19/11/319/11/8

ASJC Scopus subject areas

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

Fingerprint Dive into the research topics of 'Moving onto High Steps for a Four-limbed Robot with Torso Contact'. Together they form a unique fingerprint.

  • Cite this

    Matsuzawa, T., Naito, H., Sato, T., Terae, K., Murakami, M., Yoshida, S., Takanishi, A., Hashimoto, K., Matsubara, T., Namura, K., Sun, X., Imai, A., Ohkawara, M., Kimura, S., Kumagai, K., & Yamaguchi, K. (2019). Moving onto High Steps for a Four-limbed Robot with Torso Contact. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (pp. 6324-6331). [8967833] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS40897.2019.8967833