Crawling and foot trajectory modification control for legged robot on uneven terrain

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

研究成果: Article

抜粋

In this paper, we propose a crawling motion that a legged robot makes its feet and torso contact with the ground alternately. The crawling motion aims to reduce the risk of malfunction due to the impact forces caused by falling down for travelling across uneven terrain. In addition, we propose the foot trajectory modification method based on information obtained from force sensors and an attitude sensor. The control method contributes to avoiding a collision between its feet and the surface of uneven terrain. To verify the effectiveness of the proposed method, we suggested a model of uneven terrain using a dynamics simulator and conducted an experiment that a four-limbed robot gets over the modelled terrain. From the experimental results, it is confirmed that the robot can traverse uneven terrain by using the crawling motion and that the foot trajectory modification control method can improve the locomotion capability of the robot.

元の言語English
ページ(範囲)1-10
ページ数10
ジャーナルInternational Journal of Mechatronics and Automation
7
発行部数1
出版物ステータスPublished - 2020

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computational Mechanics
  • Industrial and Manufacturing Engineering
  • Computational Mathematics
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • これを引用

    Matsuzawa, T., Koizumi, A., Hashimoto, K., Sun, X., Hamamoto, S., Teramachi, T., Sakai, N., Kimura, S., & Takanishi, A. (2020). Crawling and foot trajectory modification control for legged robot on uneven terrain. International Journal of Mechatronics and Automation, 7(1), 1-10.