Leg-grope-walk - Walking strategy on weak and irregular slopes for a quadruped robot by force distribution

Yuichi Ambe, Fumitoshi Matsuno

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

6 Citations (Scopus)

Abstract

When a legged-robot walks on an irregular terrain such as a damaged area, some footholds may collapse due to the external force caused by the walking robot, and consequently the robot will stumble and fall. We have earlier proposed a locomotion method in which the quadruped robot does not stumble and cause a large collapse of the surrounding area on a weak horizontal plane. In this paper, we extend this method to weak and irregular slopes. In the case of slopes, we should consider 'slippage'. We propose a force distribution method for the leg-grope that also considers slippage. To demonstrate the effectiveness of proposed method, we will show an experimental result.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages1840-1845
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
Externally publishedYes
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 2012 Oct 72012 Oct 12

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period12/10/712/10/12

ASJC Scopus subject areas

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

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