TY - GEN
T1 - Ladder climbing control for limb mechanism robot "ASTERISK"
AU - Fujii, Shota
AU - Inoue, Kenji
AU - Takubo, Tomohito
AU - Mae, Yasushi
AU - Arai, Tatsuo
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/51649104150
U2 - 10.1109/ROBOT.2008.4543674
DO - 10.1109/ROBOT.2008.4543674
M3 - Conference contribution
AN - SCOPUS:51649104150
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3052
EP - 3057
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -