@inproceedings{799fe7bf45bd48c28be2ce4e0305e10d,
title = "Adaptation to rough terrain by using cof estimation on a quadruped vehicle",
abstract = "Foot groping is one way to evaluate the stability of footholds for legged locomotives on rough terrain. For further acquisition of ground information, we installed active ankles with two active joints on the experimental quadruped vehicle, RoQ2. To compensate the loss of passive adaptation of ankles to terrain, active adaptation using COF estimation is implemented. COF is a center of pressure on a sole and estimated by sole sensor, which consists of four FSRs. Sole sensors for COF can determine the sole plane when adapting to rough terrain. This paper also shows that our new proposition can detect an edge of a beam or a step on the ground without thrusting a foot to the objects.",
keywords = "Adaptation, COF, Quadruped vehicle, RoQ, Rough terrain",
author = "Shogo Okamoto and Kaoru Konishi and Kenichi Tokuda and Satoshi Tadokoro",
year = "2006",
month = jan,
day = "1",
doi = "10.1007/978-3-540-33453-8_42",
language = "English",
isbn = "3540334521",
series = "Springer Tracts in Advanced Robotics",
publisher = "Springer-Verlag",
pages = "505--516",
editor = "Salah Sukkariah and Peter Corke",
booktitle = "Robotics",
note = "5th International Conference on Field and Service Robotics, FSR 2005 ; Conference date: 29-07-2005 Through 31-07-2005",
}