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 language | English |
|---|---|
| Title of host publication | 2011 IEEE/SICE International Symposium on System Integration, SII 2011 |
| Pages | 1287-1292 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2011 |
| Event | 2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan Duration: Dec 20 2011 → Dec 22 2011 |
Other
| Other | 2011 IEEE/SICE International Symposium on System Integration, SII 2011 |
|---|---|
| Country | Japan |
| City | Kyoto |
| Period | 12/20/11 → 12/22/11 |
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ASJC Scopus subject areas
- Computer Networks and Communications
- Control and Systems Engineering
Cite this
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 proceeding › Conference contribution
}
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
AN - SCOPUS:84857584750
SN - 9781457715235
SP - 1287
EP - 1292
BT - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
ER -