Moving onto High Steps for a Four-limbed Robot with Torso Contact

T. Matsuzawa, H. Naito, T. Sato, K. Terae, M. Murakami, S. Yoshida, A. Takanishi, K. Hashimoto, T. Matsubara, K. Namura, X. Sun, A. Imai, M. Ohkawara, S. Kimura, K. Kumagai, K. Yamaguchi

研究成果: Conference contribution

抄録

In this paper, we describe approaches to enable a four-limbed robot to get over a step higher than its leg with torso contact. The higher the step becomes, the more difficult it is for legged robots to get over from the viewpoint of stability and kinematic reachability. Torso landing contributes to improving stability and robustness of motion for moving onto high step because of lower center of mass (CoM) and larger support polygon, which is seldomly utilized by previous human-sized legged robots. The approaches in this paper consist of the following two components. As for hardware, spikes are arranged on the bottom of robot' s body for stable torso landing on a high step. As for motion generation, Sequential Quadratic Programming (SQP) is utilized to generate motion with torso landing to guarantee stability of robots during getting over the high step. From experiments, it is confirmed that the fourlimbed robot WAREC-I succeeded in moving onto a step with the height of 865mm.

本文言語English
ホスト出版物のタイトル2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ6324-6331
ページ数8
ISBN(電子版)9781728140049
DOI
出版ステータスPublished - 2019 11
イベント2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
継続期間: 2019 11 32019 11 8

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
CountryChina
CityMacau
Period19/11/319/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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