3D movement of legged robot in narrow space

Takeshi Toda; Kenichi Ohara; Kazuto Kamiyama; Masaru Kojima; Mitsuhiro Horade; Yasushi Mae; Tatsuo Arai

doi:10.1109/MHS.2014.7006109

3D movement of legged robot in narrow space

Takeshi Toda^*, Kenichi Ohara, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, two new types of gait for moving in narrow space for the limb mechanism robot ASTERISK are proposed. The proposed 'vertical wave gait' and 'vertical cross gait' are generated on a simulator and achieved with an actual robot in an environment made up of two parallel walls.

Original language	English
Title of host publication	2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781479966790
DOIs	https://doi.org/10.1109/MHS.2014.7006109
Publication status	Published - 9 Jan 2015
Externally published	Yes
Event	2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014 - Nagoya, Japan Duration: 10 Nov 2014 → 12 Nov 2014

Publication series

Name	2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014

Conference

Conference	2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014
Country/Territory	Japan
City	Nagoya
Period	10/11/14 → 12/11/14

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10.1109/MHS.2014.7006109

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Toda, T., Ohara, K., Kamiyama, K., Kojima, M., Horade, M., Mae, Y., & Arai, T. (2015). 3D movement of legged robot in narrow space. In 2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014 Article 7006109 (2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MHS.2014.7006109

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title = "3D movement of legged robot in narrow space",

abstract = "In this paper, two new types of gait for moving in narrow space for the limb mechanism robot ASTERISK are proposed. The proposed 'vertical wave gait' and 'vertical cross gait' are generated on a simulator and achieved with an actual robot in an environment made up of two parallel walls.",

author = "Takeshi Toda and Kenichi Ohara and Kazuto Kamiyama and Masaru Kojima and Mitsuhiro Horade and Yasushi Mae and Tatsuo Arai",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014 ; Conference date: 10-11-2014 Through 12-11-2014",

year = "2015",

month = jan,

day = "9",

doi = "10.1109/MHS.2014.7006109",

language = "English",

series = "2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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}

Toda, T, Ohara, K, Kamiyama, K, Kojima, M, Horade, M, Mae, Y & Arai, T 2015, 3D movement of legged robot in narrow space. in 2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014., 7006109, 2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014, Institute of Electrical and Electronics Engineers Inc., 2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014, Nagoya, Japan, 10/11/14. https://doi.org/10.1109/MHS.2014.7006109

3D movement of legged robot in narrow space. / Toda, Takeshi; Ohara, Kenichi; Kamiyama, Kazuto et al.
2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014. Institute of Electrical and Electronics Engineers Inc., 2015. 7006109 (2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - 3D movement of legged robot in narrow space

AU - Toda, Takeshi

AU - Ohara, Kenichi

AU - Kamiyama, Kazuto

AU - Kojima, Masaru

AU - Horade, Mitsuhiro

AU - Mae, Yasushi

AU - Arai, Tatsuo

PY - 2015/1/9

Y1 - 2015/1/9

N2 - In this paper, two new types of gait for moving in narrow space for the limb mechanism robot ASTERISK are proposed. The proposed 'vertical wave gait' and 'vertical cross gait' are generated on a simulator and achieved with an actual robot in an environment made up of two parallel walls.

AB - In this paper, two new types of gait for moving in narrow space for the limb mechanism robot ASTERISK are proposed. The proposed 'vertical wave gait' and 'vertical cross gait' are generated on a simulator and achieved with an actual robot in an environment made up of two parallel walls.

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U2 - 10.1109/MHS.2014.7006109

DO - 10.1109/MHS.2014.7006109

M3 - Conference contribution

AN - SCOPUS:84961337371

T3 - 2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014

BT - 2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014

Y2 - 10 November 2014 through 12 November 2014

ER -

Toda T, Ohara K, Kamiyama K, Kojima M, Horade M, Mae Y et al. 3D movement of legged robot in narrow space. In 2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014. Institute of Electrical and Electronics Engineers Inc. 2015. 7006109. (2014 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2014). doi: 10.1109/MHS.2014.7006109

3D movement of legged robot in narrow space

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