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 proceedingConference 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 languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Pages2523-2527
Number of pages5
DOIs
Publication statusPublished - 2008
Externally publishedYes
EventSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology - Tokyo, Japan
Duration: Aug 20 2008Aug 22 2008

Publication series

NameProceedings of the SICE Annual Conference

Other

OtherSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
CountryJapan
CityTokyo
Period8/20/088/22/08

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

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