A Novel Capabilities of Quadruped Robot Moving through Vertical Ladder without Handrail Support

Azhar Aulia Saputra, Yuichiro Toda, Naoyuki Takesue, Naoyuki Kubota

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the novel capabilities of a quadruped robot by performing horizontal-vertical-horizontal movement transition through vertical ladder without handrailing supporter. To overcome the proposed problem, we propose a multi-behavior generation model using independent stepping and pose control in the quadruped robot. The model is able to generate appropriate behavior depending on external (3D point clouds) and internal sensors (ground touch sensor, and Inertial Measurement Unit). Posture condition, safe movement area, possible touchpoint, grasping possibility, and target movement are the information that is analyzed from the sensors. There are four options developed in behavior generation, which are, Approaching, Body Placing, Stepping, and Grasping behavior. In order to prove the effectiveness of the proposed algorithm, the model was implemented on the computer simulation and the real application. Before being applied in the real robot, the proposed model is optimized in the computer simulation. Then, the optimized parameter is used for applying in the real robot. As a result, the robot succeeded to move through the ladder without handrail from lower stair to upper stair. From the analysis, the body placing behavior is the most important strategy in the proposed case.

Original languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1448-1453
Number of pages6
ISBN (Electronic)9781728140049
DOIs
Publication statusPublished - Nov 2019
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: Nov 3 2019Nov 8 2019

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
CountryChina
CityMacau
Period11/3/1911/8/19

Keywords

  • Autonomous Behavior Generation
  • Climbing Vertical Ladder
  • Felidae-like Quadruped Robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Saputra, A. A., Toda, Y., Takesue, N., & Kubota, N. (2019). A Novel Capabilities of Quadruped Robot Moving through Vertical Ladder without Handrail Support. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (pp. 1448-1453). [8968175] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS40897.2019.8968175