TY - GEN
T1 - Obstacle avoidance using virtual impedance wall for limb mechanism robot
AU - Tsukamoto, Kenji
AU - Takubo, Tomohito
AU - Ohara, Kenichi
AU - Mae, Yasushi
AU - Arai, Tatsuo
PY - 2009
Y1 - 2009
N2 - An obstacle avoidance method using virtual impedance wall is proposed for multi-legged robot. The swing leg employs compliance control to avoid the collided object and the robot keeps the moving direction as much as possible while swing legs keep a preferred operating region. The preferred operating region is surrounded with virtual impedance wall. When the leg comes to go over the threshold of preferred operating region, the moving direction is modified by the virtual repulsive force from the virtual impedance wall to avoid the workspace limitation. Moreover, the pattern recognition technique with the support vector machine is implemented for estimating the contact point between the object and the body by using the data set of the error of each leg. The virtual impedance field is set at the estimated contact position to direct the aspect of avoidance.
AB - An obstacle avoidance method using virtual impedance wall is proposed for multi-legged robot. The swing leg employs compliance control to avoid the collided object and the robot keeps the moving direction as much as possible while swing legs keep a preferred operating region. The preferred operating region is surrounded with virtual impedance wall. When the leg comes to go over the threshold of preferred operating region, the moving direction is modified by the virtual repulsive force from the virtual impedance wall to avoid the workspace limitation. Moreover, the pattern recognition technique with the support vector machine is implemented for estimating the contact point between the object and the body by using the data set of the error of each leg. The virtual impedance field is set at the estimated contact position to direct the aspect of avoidance.
KW - Multi-legged robot
KW - Obstacle avoidance
KW - Support vector machine
KW - Virtual impedance wall
UR - http://www.scopus.com/inward/record.url?scp=77951443908&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2009.5420603
DO - 10.1109/ROBIO.2009.5420603
M3 - Conference contribution
AN - SCOPUS:77951443908
SN - 9781424447756
T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
SP - 604
EP - 609
BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Y2 - 19 December 2009 through 23 December 2009
ER -