脆弱環境下での移動を実現するための4脚移動ロボットの足探り動作による足場認識と歩行の実現 [in Japanese] Detection of Footholds with Leg-grope and Safety Walking for Quadruped Robots on Weak Terrain [in Japanese]
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When a legged-robot walks on an irregular terrain such as a stricken area, some footholds may be collapsed by an external force that caused by the walking robot, and consequently the robot stumbles and falls. In this study we propose locomotion method that will not cause large collapse of the environment while the robot walks on the weak area. First, we define the weak environment that has possibility to collapse the field, then a strategy to walk on the weak environment is shown. Next, the condition of center of gravity of the robot and the leg-grope sequence is derived based on statics. Furthermore, experimental results to verify the proposed method are shown by using a quadruped legged-robot.
- Journal of the Robotics Society of Japan
Journal of the Robotics Society of Japan 28(2), 215-222, 2010-03-15
The Robotics Society of Japan