TY - GEN
T1 - Gait Planning for a Free-Climbing Robot Based on Tumble Stability
AU - Uno, Kentaro
AU - Ribeiro, Warley F.R.
AU - Jones, William
AU - Shirai, Yuki
AU - Minote, Hayato
AU - Nagaoka, Kenji
AU - Yoshida, Kazuya
N1 - Funding Information:
This work was partly supported by JSPS KAKENHI Grant Number 18K13721. 1The authors are with the Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Sendai 9808579, Japan
Publisher Copyright:
© 2019 IEEE.
PY - 2019/4/25
Y1 - 2019/4/25
N2 - 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.
AB - 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.
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U2 - 10.1109/SII.2019.8700455
DO - 10.1109/SII.2019.8700455
M3 - Conference contribution
AN - SCOPUS:85065673385
T3 - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
SP - 289
EP - 294
BT - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/SICE International Symposium on System Integration, SII 2019
Y2 - 14 January 2019 through 16 January 2019
ER -