Crawling gait generation method for four-limbed robot based on normalized energy stability margin

T. Matsuzawa, K. Hashimoto, X. Sun, T. Teramachi, S. Kimura, N. Sakai, Y. Yoshida, A. Imai, K. Kumagai, T. Matsubara, K. Yamaguchi, W. X. Tan, A. Takanishi*

*この研究の対応する著者

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

In this paper, we describe a gait generation method for the crawling motion of a legged robot using Normalized Energy Stability Margin (NESM). The crawling motion is a method of locomotion that, since the robot is very close to a state of falling, its leg and torso are grounded alternately in order to enable the robot to move with a low center of gravity. It has the benefit of decreasing the impact experienced by the robot and reduces the risk of becoming damaged if it falls over. However, during the phase where only the robot's torso is in contact with the ground, the size of robot's support area is smaller than the case when its legs are in contact with the ground. This decrease in support area may cause the robot to fall or tip over sideways in the direction where the edge of robot's cuboid torso is providing the most support on an inclined surface. As a result, the robot's feet may collide with the road's surface when its legs are moving forward and prevent the robot from performing its crawling motion. To deal with this problem, we propose a method of gait generation for the crawling motion based on a stability criteria. Depending on the stability criteria, this method involves the selection of a stance, with which it lifts its torso and a way of controlling the landing height of the robot's feet depending on the unevenness of the surface of the road. In experiments, it has been confirmed that stability was improved when the four-limbed robot performed the crawling motion using the proposed method on an inclined road surface.

本文言語English
ホスト出版物のタイトルSSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference
出版社Institute of Electrical and Electronics Engineers Inc.
ページ223-229
ページ数7
ISBN(電子版)9781538639221
DOI
出版ステータスPublished - 2017 10 26
イベント15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017 - Shanghai, China
継続期間: 2017 10 112017 10 13

出版物シリーズ

名前SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference

Other

Other15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017
国/地域China
CityShanghai
Period17/10/1117/10/13

ASJC Scopus subject areas

  • 人工知能
  • 安全性、リスク、信頼性、品質管理
  • 制御と最適化
  • 安全研究

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