Climbing up onto steps for limb mechanism robot "ASTERISK"

Shota Fujii*, Kenji Inoue, Tomohito Takubo, Tatsuo Arai

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

20 Citations (Scopus)

Abstract

A method for limb mechanism robot "ASTERISK" of climbing up onto steps which are higher than its body is proposed. Basically the robot climbs by wave gait; depending on the step height, the robot dynamically changes its leg stepping sequence. It inclines its body so that its legs can reach up onto the step. When the robot lifts its legs up, it calculates the stability margin by measuring the body orientation with its acceleration sensor. The robot also detects the contact between the feet and step using joint compliance. As the result of experiment, the robot could climb up onto a 230[mm] high step.

Original languageEnglish
Title of host publication2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006
PublisherJapan Robot Association
Pages225-230
Number of pages6
ISBN (Print)4990271718, 9784990271718
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event23rd International Symposium on Robotics and Automation in Construction, ISARC 2006 - Tokyo, Japan
Duration: 3 Oct 20065 Oct 2006

Publication series

Name2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006

Conference

Conference23rd International Symposium on Robotics and Automation in Construction, ISARC 2006
Country/TerritoryJapan
CityTokyo
Period3/10/065/10/06

Keywords

  • Climbing robot
  • Joint compliance
  • Limb mechanism robot
  • Six legged robot
  • Stability margin

Fingerprint

Dive into the research topics of 'Climbing up onto steps for limb mechanism robot "ASTERISK"'. Together they form a unique fingerprint.

Cite this

Fujii, S., Inoue, K., Takubo, T., & Arai, T. (2006). Climbing up onto steps for limb mechanism robot "ASTERISK". In 2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006 (pp. 225-230). (2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006). Japan Robot Association. https://doi.org/10.22260/isarc2006/0044