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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2704-2709
ページ数6
2017-September
ISBN(電子版)9781538626825
DOI
出版ステータスPublished - 2017 12 13
イベント2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
継続期間: 2017 9 242017 9 28

Other

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

ASJC Scopus subject areas

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

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