Crawling gait for four-limbed robot and simulation on uneven terrain

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

    研究成果: Conference contribution

    10 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトルHumanoids 2016 - IEEE-RAS International Conference on Humanoid Robots
    出版社IEEE Computer Society
    ページ1270-1275
    ページ数6
    ISBN(電子版)9781509047185
    DOI
    出版ステータスPublished - 2016 12 30
    イベント16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 - Cancun, Mexico
    継続期間: 2016 11 152016 11 17

    Other

    Other16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016
    CountryMexico
    CityCancun
    Period16/11/1516/11/17

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Hardware and Architecture
    • Human-Computer Interaction
    • Electrical and Electronic Engineering

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