Gait Planning for a Free-Climbing Robot Based on Tumble Stability

Kentaro Uno, Warley F.R. Ribeiro, William Jones, Yuki Shirai, Hayato Minote, Kenji Nagaoka, Kazuya Yoshida

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

3 Citations (Scopus)

Abstract

Conventional wheeled or tracked robots are unable to traverse rough, uneven, or steep terrain. A multi-legged robot that has grippers at the tips of each leg is capable of grasping irregularities in the terrain, allowing for free climbing motion through a variety of challenging environments. To execute safe and reliable free-climbing locomotion, the motion of the robot should be planned in consideration of three aspects: optimal selection of gripping points along the path to the goal, tumble stability of the robot including the performance of the gripper, and feasibility of motion on the basis of kinematics. In this paper, we propose a method to satisfy these three conditions and verify the validity of the proposed method with a free-climbing robot walking simulation on inclined terrain with randomly distributed discrete grippable points.

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages289-294
Number of pages6
ISBN (Electronic)9781538636152
DOIs
Publication statusPublished - 2019 Apr 25
Event2019 IEEE/SICE International Symposium on System Integration, SII 2019 - Paris, France
Duration: 2019 Jan 142019 Jan 16

Publication series

NameProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019

Conference

Conference2019 IEEE/SICE International Symposium on System Integration, SII 2019
CountryFrance
CityParis
Period19/1/1419/1/16

ASJC Scopus subject areas

  • Atomic and Molecular Physics, and Optics
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Gait Planning for a Free-Climbing Robot Based on Tumble Stability'. Together they form a unique fingerprint.

Cite this