TY - GEN
T1 - Crawling motion and foot trajectory modification control for legged robot on rough terrain
AU - Matsuzawa, Takashi
AU - Koizumi, Ayanori
AU - Hashimoto, Kenji
AU - Sun, Xiao
AU - Hamamoto, Shinya
AU - Teramachi, Tomotaka
AU - Sakai, Nobuaki
AU - Kimura, Shunsuke
AU - Takanishi, Atsuo
N1 - Funding Information:
ACKNOWLEDGEMENT The four-limbed robot was developed through collaboration between the Humanoid Robotics Institute, Waseda University, and Mitsubishi Heavy Industries, Ltd. with financial support from Mitsubishi Heavy Industries, Ltd. This study was conducted with the support of the Research Institute for Science and Engineering, Waseda University, and the Future Robotics Organization, Waseda University. This research was funded in part by the ImPACT TRC Program of the Council for Science, Technology and Innovation (Cabinet Office, Government of Japan). It was also partially supported by SolidWorks Japan K.K., DYDEN Corporation, and KITO Corporation, whom we thank for their financial and technical support.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/23
Y1 - 2017/8/23
N2 - In this paper, we propose a crawling motion to reduce the risk of malfunction due to falling when a legged robot travels across rough terrain. This locomotion method includes a phase in which the torso of the robot comes into contact with the ground to lower its center of mass compared with that during conventional bipedal or quadrupedal walking motion. In rough terrain, the ability of a robot to crawl is very likely to be hindered since its feet may encounter holes or protrusions caused by road surface damage. To avoid this issue, we suggest a modified foot trajectory control method based on information obtained by force and attitude angle sensors. To verify the effectiveness of the proposed crawling motion on rough terrain, we created a terrain model using a dynamics simulator and conducted an experiment by applying the proposed control method to a four-limbed robot traveling across the modelled terrain. The experimental results confirmed that a robot can successfully traverse rough terrain using the proposed crawling motion and that the foot trajectory modification control method can enhance the performance of the robot during such motion.
AB - In this paper, we propose a crawling motion to reduce the risk of malfunction due to falling when a legged robot travels across rough terrain. This locomotion method includes a phase in which the torso of the robot comes into contact with the ground to lower its center of mass compared with that during conventional bipedal or quadrupedal walking motion. In rough terrain, the ability of a robot to crawl is very likely to be hindered since its feet may encounter holes or protrusions caused by road surface damage. To avoid this issue, we suggest a modified foot trajectory control method based on information obtained by force and attitude angle sensors. To verify the effectiveness of the proposed crawling motion on rough terrain, we created a terrain model using a dynamics simulator and conducted an experiment by applying the proposed control method to a four-limbed robot traveling across the modelled terrain. The experimental results confirmed that a robot can successfully traverse rough terrain using the proposed crawling motion and that the foot trajectory modification control method can enhance the performance of the robot during such motion.
KW - Crawling
KW - Disaster Response
KW - Legged Robot
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U2 - 10.1109/ICMA.2017.8016121
DO - 10.1109/ICMA.2017.8016121
M3 - Conference contribution
AN - SCOPUS:85030312556
T3 - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
SP - 1976
EP - 1982
BT - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
Y2 - 6 August 2017 through 9 August 2017
ER -