Ladder climbing control for limb mechanism robot "ASTERISK"

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

*Corresponding author for this work

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

44 Citations (Scopus)

Abstract

A ladder climbing motion for limb mechanism robot "ASTERISK" is proposed. This robot has six legs. The upper three legs hold on the upper rung from its both sides alternately, just like pinching it. The lower three legs hold on the lower rung in the same way. Hence the robot can climb the ladder stably. Depending on the posture of the robot, when it lifts up its body, the robot automatically selects the legs supporting the robot's weight and distributes the weight to these legs based on their force margins. The legs which cannot support forces are controlled to always contact with the rungs so that the robot holds the ladder firmly. The advantages of proposed gait and control method are verified by the analysis of the supporting range and the torque, and by experiment on force distribution.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages3052-3057
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: 19 May 200823 May 2008

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Country/TerritoryUnited States
CityPasadena, CA
Period19/05/0823/05/08

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Fujii, S., Inoue, K., Takubo, T., Mae, Y., & Arai, T. (2008). Ladder climbing control for limb mechanism robot "ASTERISK". In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 (pp. 3052-3057). Article 4543674 (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2008.4543674