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

Shogo Okamoto, Kaoru Konishi, Kenichi Tokuda, Satoshi Tadokoro

研究成果: Chapter

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルRobotics
ホスト出版物のサブタイトルResults of the 5th International Conference
編集者Peter Corke, Sukkariah
ページ505-516
ページ数12
DOI
出版ステータスPublished - 2006 9 27

出版物シリーズ

名前Springer Tracts in Advanced Robotics
25
ISSN(印刷版)1610-7438
ISSN(電子版)1610-742X

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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