Dynamic trajectory control of passing over stairs by a biped type leg-wheeled robot with nominal reference of static gait

Osamu Matsumoto*, Shuuji Kajita, Muneharu Saigo, Kazuo Tani

*この研究の対応する著者

研究成果: Paper査読

29 被引用数 (Scopus)

抄録

We are studying a wheeled robot with the ability of going up and down stairs. We previously developed a wheeled robot called a `variable structure type four-wheeled robot' capable of passing over a single step, but it cannot negotiate the stairs whose tread is short compared with the wheelbase of the robot. In this paper, we propose a `biped type leg-wheeled robot' which has ability to pass over stairs with short treads. We also propose a trajectory planning method which uses a nominal static walking trajectory as a reference for the dynamic control of the robot, and investigate a trajectory control method using computer simulation. We finally confirm the effectiveness of our proposed method with a successful experiment of going up stairs by this robot.

本文言語English
ページ406-412
ページ数7
出版ステータスPublished - 1998
外部発表はい
イベントProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can
継続期間: 1998 10月 131998 10月 17

Other

OtherProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
CityVictoria, Can
Period98/10/1398/10/17

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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