Crawling gait for four-limbed robot and simulation on uneven terrain

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

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

14 Citations (Scopus)


Crawling motion by a robot is effective for reducing shock in the case of a fall. It thus decreases the possibility of a locomotion malfunction on uneven terrain. In this paper, the control of crawling motion on uneven terrain is described. Firstly, crawling motion and detailed motion are explained. Then, a method for controlling crawling motion is outlined for its realization. To verify the effectiveness of the proposed method for locomotion on uneven terrain, rough rubble ground was generated in a dynamics simulator and the crawling method was applied to our developed four-limbed robot. Additionally, a crawler robot was generated. A comparison was conducted to verify the difference in locomotion capabilities between the proposed method and other locomotion styles. The simulation results confirmed that the proposed method enabled successful locomotion of our four-limbed robot on uneven terrain.

Original languageEnglish
Title of host publicationHumanoids 2016 - IEEE-RAS International Conference on Humanoid Robots
PublisherIEEE Computer Society
Number of pages6
ISBN (Electronic)9781509047185
Publication statusPublished - 2016 Dec 30
Event16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 - Cancun, Mexico
Duration: 2016 Nov 152016 Nov 17


Other16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering


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