Generation of obstacle avoidance behaviors for quadruped robots using a finite automaton

Kiyotaka Izumi; Ryoichi Sato; Keigo Watanabe

doi:10.1109/SICE.2008.4655090

Generation of obstacle avoidance behaviors for quadruped robots using a finite automaton

Kiyotaka Izumi, Ryoichi Sato, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Pages	2523-2527
Number of pages	5
DOIs	https://doi.org/10.1109/SICE.2008.4655090
Publication status	Published - 2008
Externally published	Yes
Event	SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology - Tokyo, Japan Duration: Aug 20 2008 → Aug 22 2008

Publication series

Name	Proceedings of the SICE Annual Conference

Other

Other	SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Country/Territory	Japan
City	Tokyo
Period	8/20/08 → 8/22/08

Keywords

Automaton
Camera image
Obstacle avoidance
Quadruped walking robot
Ultrasonic sensors

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/SICE.2008.4655090

Cite this

Izumi, K., Sato, R., & Watanabe, K. (2008). Generation of obstacle avoidance behaviors for quadruped robots using a finite automaton. In Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology (pp. 2523-2527). [4655090] (Proceedings of the SICE Annual Conference). https://doi.org/10.1109/SICE.2008.4655090

Generation of obstacle avoidance behaviors for quadruped robots using a finite automaton. / Izumi, Kiyotaka; Sato, Ryoichi; Watanabe, Keigo.

Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology. 2008. p. 2523-2527 4655090 (Proceedings of the SICE Annual Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Izumi, K, Sato, R & Watanabe, K 2008, Generation of obstacle avoidance behaviors for quadruped robots using a finite automaton. in Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology., 4655090, Proceedings of the SICE Annual Conference, pp. 2523-2527, SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology, Tokyo, Japan, 8/20/08. https://doi.org/10.1109/SICE.2008.4655090

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abstract = "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.",

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Generation of obstacle avoidance behaviors for quadruped robots using a finite automaton

Abstract

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Keywords

ASJC Scopus subject areas

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