Omni-directional gait of multi-legged rescue robot

Kenji Kamikawa*, Tatsuo Arai, Kenji Inoue, Yasushi Mae

*此作品的通讯作者

科研成果: 期刊稿件会议文章同行评审

27 引用 (Scopus)

摘要

This paper proposes a gait control algorithm for Limb-mechanism robot on rough terrains and slopes. The concept of the "Limb-mechanism" is to integrate functions of legged locomotion and arm manipulation. A limb can be used as a leg and an arm according to different situations. Each limb radiates out in six directions and the robot has a symmetrical configuration in horizontal and vertical directions. The robot can walk into any direction using a simple motion planning where the same trajectory is assumed in each leg. This trajectory is generated on a cylindrical volume which is defined in the leg workspace. The robot has a touch sensor at the tip of each leg. The sensor can detect the contact with the ground, and the legs can stay on the ground stably. When the robot walks on a rough terrain, its body will be inclined in parallel to the virtual plane defined by leg supporting points in order to use the leg workspace effectively. The stability margin of the robot can be also improved easily by changing the leg trajectory.

源语言英语
页(从-至)2171-2176
页数6
期刊Proceedings - IEEE International Conference on Robotics and Automation
2004
3
DOI
出版状态已出版 - 2004
已对外发布
活动Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, 美国
期限: 26 4月 20041 5月 2004

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引用此

Kamikawa, K., Arai, T., Inoue, K., & Mae, Y. (2004). Omni-directional gait of multi-legged rescue robot. Proceedings - IEEE International Conference on Robotics and Automation, 2004(3), 2171-2176. https://doi.org/10.1109/robot.2004.1307384