Crawling and foot trajectory modification control for legged robot on uneven terrain

Takashi Matsuzawa*, Ayanori Koizumi, Kenji Hashimoto, Xiao Sun, Shinya Hamamoto, Tomotaka Teramachi, Nobuaki Sakai, Shunsuke Kimura, Atsuo Takanishi

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


In this paper, we propose a crawling motion that a legged robot makes its feet and torso contact with the ground alternately. The crawling motion aims to reduce the risk of malfunction due to the impact forces caused by falling down for travelling across uneven terrain. In addition, we propose the foot trajectory modification method based on information obtained from force sensors and an attitude sensor. The control method contributes to avoiding a collision between its feet and the surface of uneven terrain. To verify the effectiveness of the proposed method, we suggested a model of uneven terrain using a dynamics simulator and conducted an experiment that a four-limbed robot gets over the modelled terrain. From the experimental results, it is confirmed that the robot can traverse uneven terrain by using the crawling motion and that the foot trajectory modification control method can improve the locomotion capability of the robot.

Original languageEnglish
Pages (from-to)1-10
Number of pages10
JournalInternational Journal of Mechatronics and Automation
Issue number1
Publication statusPublished - 2020


  • Crawling
  • Disaster response
  • Foot trajectory modification control
  • Legged robot
  • Uneven terrain

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computational Mechanics
  • Industrial and Manufacturing Engineering
  • Computational Mathematics
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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