Adaptation to rough terrain by using cof estimation on a quadruped vehicle

Shogo Okamoto, Kaoru Konishi, Kenichi Tokuda, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish
Title of host publicationRobotics
Subtitle of host publicationResults of the 5th International Conference
EditorsSalah Sukkariah, Peter Corke
PublisherSpringer-Verlag
Pages505-516
Number of pages12
ISBN (Print)3540334521, 9783540334521, 9783540334521
DOIs
Publication statusPublished - 2006 Jan 1
Event5th International Conference on Field and Service Robotics, FSR 2005 - Port Douglas, Australia
Duration: 2005 Jul 292005 Jul 31

Publication series

NameSpringer Tracts in Advanced Robotics
Volume25
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Other

Other5th International Conference on Field and Service Robotics, FSR 2005
CountryAustralia
CityPort Douglas
Period05/7/2905/7/31

Keywords

  • Adaptation
  • COF
  • Quadruped vehicle
  • RoQ
  • Rough terrain

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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