Obstacle avoidance using virtual impedance wall for limb mechanism robot

Kenji Tsukamoto*, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

*Corresponding author for this work

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

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages604-609
Number of pages6
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China
Duration: 19 Dec 200923 Dec 2009

Publication series

Name2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Conference

Conference2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Country/TerritoryChina
CityGuilin
Period19/12/0923/12/09

Keywords

  • Multi-legged robot
  • Obstacle avoidance
  • Support vector machine
  • Virtual impedance wall

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Tsukamoto, K., Takubo, T., Ohara, K., Mae, Y., & Arai, T. (2009). Obstacle avoidance using virtual impedance wall for limb mechanism robot. In 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 (pp. 604-609). Article 5420603 (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009). https://doi.org/10.1109/ROBIO.2009.5420603