Fast passing over steps with unknown height by a `variable structure type four-wheeled robot'

Osamu Matsumoto*, Shuuji Kajita, Kazuo Tani

*この研究の対応する著者

研究成果: Paper査読

1 被引用数 (Scopus)

抄録

We are developing a wheeled robot called a `variable structure type four-wheeled robot' which, with a simple structure, has ability to pass over a step. We already realized its dynamic passing over a step whose height is known. In this paper, we consider the control of dynamic passing over steps whose height is unknown. We propose a method for planning a dynamic trajectory by evaluating the robot's stability against falling down in landing. We also confirm the possibility of detecting the height of the step using the existing rotary encoder without adding any external sensors. As the result, we have successfully realized an experiment of this robot's going up steps whose height is unknown within only four seconds.

本文言語English
ページ1131-1137
ページ数7
出版ステータスPublished - 1997
外部発表はい
イベントProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) - Grenoble, Fr
継続期間: 1998 9 71998 9 11

Other

OtherProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3)
CityGrenoble, Fr
Period98/9/798/9/11

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

フィンガープリント

「Fast passing over steps with unknown height by a `variable structure type four-wheeled robot'」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル