An analysis about a possibility of continuous walk for a quadruped robot using leg-grope movement

Kazuyuki Ishida, Tetsushi Kamegawa, Akio Gofuku

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

2 Citations (Scopus)

Abstract

Currently, various rescue robots are developed to use them at a disaster site. It is suggested that legged-robots are useful on uneven and fragile terrain because a legged-robot can choose a grounding point discretely. In the previous study, leg-grope movement was proposed for a quadruped robot walking on fragile terrain. However, the walking experiment by using the leg-grope movement was carried out only for one cycle of walking gait, and the possibility of continuous walk that using the leg-grope movement has not analyzed yet. In this paper, we studied whether the leg-grope movement can be carried out continuously or not. As a result, we found the region for the leg-grope movement will never extend in future steps. Therefore, once the region for the leg-grope movement becomes small, the region cannot recover its groping area. The proposed leg-grope movement has to satisfy severe condition for a quadruped robot to walk continuously.

Original languageEnglish
Title of host publication2011 IEEE/SICE International Symposium on System Integration, SII 2011
Pages1287-1292
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan
Duration: Dec 20 2011Dec 22 2011

Other

Other2011 IEEE/SICE International Symposium on System Integration, SII 2011
CountryJapan
CityKyoto
Period12/20/1112/22/11

Fingerprint

Robots
Electric grounding
Disasters
Experiments

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Control and Systems Engineering

Cite this

Ishida, K., Kamegawa, T., & Gofuku, A. (2011). An analysis about a possibility of continuous walk for a quadruped robot using leg-grope movement. In 2011 IEEE/SICE International Symposium on System Integration, SII 2011 (pp. 1287-1292). [6147634] https://doi.org/10.1109/SII.2011.6147634

An analysis about a possibility of continuous walk for a quadruped robot using leg-grope movement. / Ishida, Kazuyuki; Kamegawa, Tetsushi; Gofuku, Akio.

2011 IEEE/SICE International Symposium on System Integration, SII 2011. 2011. p. 1287-1292 6147634.

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

Ishida, K, Kamegawa, T & Gofuku, A 2011, An analysis about a possibility of continuous walk for a quadruped robot using leg-grope movement. in 2011 IEEE/SICE International Symposium on System Integration, SII 2011., 6147634, pp. 1287-1292, 2011 IEEE/SICE International Symposium on System Integration, SII 2011, Kyoto, Japan, 12/20/11. https://doi.org/10.1109/SII.2011.6147634
Ishida K, Kamegawa T, Gofuku A. An analysis about a possibility of continuous walk for a quadruped robot using leg-grope movement. In 2011 IEEE/SICE International Symposium on System Integration, SII 2011. 2011. p. 1287-1292. 6147634 https://doi.org/10.1109/SII.2011.6147634
Ishida, Kazuyuki ; Kamegawa, Tetsushi ; Gofuku, Akio. / An analysis about a possibility of continuous walk for a quadruped robot using leg-grope movement. 2011 IEEE/SICE International Symposium on System Integration, SII 2011. 2011. pp. 1287-1292
@inproceedings{5ec6a754760e46869c768286f4485c52,
title = "An analysis about a possibility of continuous walk for a quadruped robot using leg-grope movement",
abstract = "Currently, various rescue robots are developed to use them at a disaster site. It is suggested that legged-robots are useful on uneven and fragile terrain because a legged-robot can choose a grounding point discretely. In the previous study, leg-grope movement was proposed for a quadruped robot walking on fragile terrain. However, the walking experiment by using the leg-grope movement was carried out only for one cycle of walking gait, and the possibility of continuous walk that using the leg-grope movement has not analyzed yet. In this paper, we studied whether the leg-grope movement can be carried out continuously or not. As a result, we found the region for the leg-grope movement will never extend in future steps. Therefore, once the region for the leg-grope movement becomes small, the region cannot recover its groping area. The proposed leg-grope movement has to satisfy severe condition for a quadruped robot to walk continuously.",
author = "Kazuyuki Ishida and Tetsushi Kamegawa and Akio Gofuku",
year = "2011",
doi = "10.1109/SII.2011.6147634",
language = "English",
isbn = "9781457715235",
pages = "1287--1292",
booktitle = "2011 IEEE/SICE International Symposium on System Integration, SII 2011",

}

TY - GEN

T1 - An analysis about a possibility of continuous walk for a quadruped robot using leg-grope movement

AU - Ishida, Kazuyuki

AU - Kamegawa, Tetsushi

AU - Gofuku, Akio

PY - 2011

Y1 - 2011

N2 - Currently, various rescue robots are developed to use them at a disaster site. It is suggested that legged-robots are useful on uneven and fragile terrain because a legged-robot can choose a grounding point discretely. In the previous study, leg-grope movement was proposed for a quadruped robot walking on fragile terrain. However, the walking experiment by using the leg-grope movement was carried out only for one cycle of walking gait, and the possibility of continuous walk that using the leg-grope movement has not analyzed yet. In this paper, we studied whether the leg-grope movement can be carried out continuously or not. As a result, we found the region for the leg-grope movement will never extend in future steps. Therefore, once the region for the leg-grope movement becomes small, the region cannot recover its groping area. The proposed leg-grope movement has to satisfy severe condition for a quadruped robot to walk continuously.

AB - Currently, various rescue robots are developed to use them at a disaster site. It is suggested that legged-robots are useful on uneven and fragile terrain because a legged-robot can choose a grounding point discretely. In the previous study, leg-grope movement was proposed for a quadruped robot walking on fragile terrain. However, the walking experiment by using the leg-grope movement was carried out only for one cycle of walking gait, and the possibility of continuous walk that using the leg-grope movement has not analyzed yet. In this paper, we studied whether the leg-grope movement can be carried out continuously or not. As a result, we found the region for the leg-grope movement will never extend in future steps. Therefore, once the region for the leg-grope movement becomes small, the region cannot recover its groping area. The proposed leg-grope movement has to satisfy severe condition for a quadruped robot to walk continuously.

UR - http://www.scopus.com/inward/record.url?scp=84857584750&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84857584750&partnerID=8YFLogxK

U2 - 10.1109/SII.2011.6147634

DO - 10.1109/SII.2011.6147634

M3 - Conference contribution

SN - 9781457715235

SP - 1287

EP - 1292

BT - 2011 IEEE/SICE International Symposium on System Integration, SII 2011

ER -