TY - GEN
T1 - Generation of obstacle avoidance behaviors for quadruped robots using a finite automaton
AU - Izumi, Kiyotaka
AU - Sato, Ryoichi
AU - Watanabe, Keigo
PY - 2008
Y1 - 2008
N2 - An obstacle avoidance method is proposed for quadruped robots by using the combination or switching of fundamental actions, which are composed of four, such as go-straight-on action, detour action, striding action, and climbing-over action. The transition of these actions is described in a finite automaton that is understandable visually in two-dimensional plane for our designer compared to any logical description. The external sensor information, provided by a monocular camera, some ultrasonic sensors and some force sensors, are utilized to change the fundamental actions. The effectiveness of the proposed method is demonstrated with some experiments.
AB - An obstacle avoidance method is proposed for quadruped robots by using the combination or switching of fundamental actions, which are composed of four, such as go-straight-on action, detour action, striding action, and climbing-over action. The transition of these actions is described in a finite automaton that is understandable visually in two-dimensional plane for our designer compared to any logical description. The external sensor information, provided by a monocular camera, some ultrasonic sensors and some force sensors, are utilized to change the fundamental actions. The effectiveness of the proposed method is demonstrated with some experiments.
KW - Automaton
KW - Camera image
KW - Obstacle avoidance
KW - Quadruped walking robot
KW - Ultrasonic sensors
UR - http://www.scopus.com/inward/record.url?scp=56749183810&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=56749183810&partnerID=8YFLogxK
U2 - 10.1109/SICE.2008.4655090
DO - 10.1109/SICE.2008.4655090
M3 - Conference contribution
AN - SCOPUS:56749183810
SN - 9784907764296
T3 - Proceedings of the SICE Annual Conference
SP - 2523
EP - 2527
BT - Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
T2 - SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Y2 - 20 August 2008 through 22 August 2008
ER -