Navigation strategy for a quadruped robot on soft flat ground

Masaaki Ikeda, Kiyotaka Izumi, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Tasks important for a mobile robot are the environmental recognition and the obstacle avoidance in the real world. The legged robot can be adapted for rough terrains. It is because the legged robot has a high degree of freedom in order to avoid an obstacle to three dimensions. In this paper, we propose a locomotion strategy on the terrain with stiffness which is different in each. The propriety of a continuation walk is determined by the force sensor mounted to the bottom of each leg of a quadruped robot. The effectiveness of the proposal approach is verified from the result of the experiment which uses the prevalent quadruped robot called TITAN-VIII.

Original languageEnglish
Title of host publicationICCAS 2010 - International Conference on Control, Automation and Systems
Pages62-65
Number of pages4
Publication statusPublished - Dec 1 2010
EventInternational Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of
Duration: Oct 27 2010Oct 30 2010

Publication series

NameICCAS 2010 - International Conference on Control, Automation and Systems

Other

OtherInternational Conference on Control, Automation and Systems, ICCAS 2010
CountryKorea, Republic of
CityGyeonggi-do
Period10/27/1010/30/10

Keywords

  • Algorithms
  • Fuzzy reasoning
  • Obstacle avoidance
  • Robot navigation
  • Walking

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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  • Cite this

    Ikeda, M., Izumi, K., & Watanabe, K. (2010). Navigation strategy for a quadruped robot on soft flat ground. In ICCAS 2010 - International Conference on Control, Automation and Systems (pp. 62-65). [5669954] (ICCAS 2010 - International Conference on Control, Automation and Systems).