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 - Dec 1 2011
Event2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan
Duration: Dec 20 2011Dec 22 2011

Publication series

Name2011 IEEE/SICE International Symposium on System Integration, SII 2011

Other

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

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Control and Systems Engineering

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    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] (2011 IEEE/SICE International Symposium on System Integration, SII 2011). https://doi.org/10.1109/SII.2011.6147634