The navigation algorithm for a quadruped robot using fuzzy evaluation of ground stiffness

Kiyotaka Izumi, Yusuke Tsumori, Keigo Watanabe

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

Abstract

Important tasks of mobile robots are environment recognition and obstacle avoidance to behave on real world. Legged type mobile robots can be adjusted for difficult terrains because robots have a high degree of freedom in order to three dimensional obstacle avoidance. In this paper, we propose an locomotion strategy on terrains having several different stiffness. A possibility of continuous walking is determined by force sensors mounted each leg of a quadruped robot. The presented approach is verified availability from experimental results using a prevalent quadruped robot called TITAN-VIII.

Original languageEnglish
Title of host publicationEmerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
EditorsHideo Fujimoto, Gurvinder S. Virk, Mohammad O. Tokhi, Hiromi Mochiyama
Publisher[publishername] World Scientific
Pages1097-1104
Number of pages8
ISBN (Print)9789814327978
DOIs
Publication statusPublished - Jan 1 2010
Event13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 - Nagoya, Japan
Duration: Aug 31 2010Sep 3 2010

Publication series

NameEmerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010

Conference

Conference13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
CountryJapan
CityNagoya
Period8/31/109/3/10

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Keywords

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

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Izumi, K., Tsumori, Y., & Watanabe, K. (2010). The navigation algorithm for a quadruped robot using fuzzy evaluation of ground stiffness. In H. Fujimoto, G. S. Virk, M. O. Tokhi, & H. Mochiyama (Eds.), Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 (pp. 1097-1104). (Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010). [publishername] World Scientific. https://doi.org/10.1142/9789814329927_0134