TY - GEN
T1 - Moving onto High Steps for a Four-limbed Robot with Torso Contact
AU - Matsuzawa, T.
AU - Naito, H.
AU - Sato, T.
AU - Terae, K.
AU - Murakami, M.
AU - Yoshida, S.
AU - Takanishi, A.
AU - Hashimoto, K.
AU - Matsubara, T.
AU - Namura, K.
AU - Sun, X.
AU - Imai, A.
AU - Ohkawara, M.
AU - Kimura, S.
AU - Kumagai, K.
AU - Yamaguchi, K.
N1 - Funding Information:
*This study was conducted with the support of Research Institute for Science and Engineering, Waseda University; Future Robotics Organization, Waseda University, and as a part of the humanoid project at the Humanoid Robotics Institute, Waseda University. This research was funded by ImPACT TRC Program of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan). It was supported by Grant-in-Aid for JSPS Fellows Number 18J13950. It was also supported by early-bird program, Waseda University. 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:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - In this paper, we describe approaches to enable a four-limbed robot to get over a step higher than its leg with torso contact. The higher the step becomes, the more difficult it is for legged robots to get over from the viewpoint of stability and kinematic reachability. Torso landing contributes to improving stability and robustness of motion for moving onto high step because of lower center of mass (CoM) and larger support polygon, which is seldomly utilized by previous human-sized legged robots. The approaches in this paper consist of the following two components. As for hardware, spikes are arranged on the bottom of robot' s body for stable torso landing on a high step. As for motion generation, Sequential Quadratic Programming (SQP) is utilized to generate motion with torso landing to guarantee stability of robots during getting over the high step. From experiments, it is confirmed that the fourlimbed robot WAREC-I succeeded in moving onto a step with the height of 865mm.
AB - In this paper, we describe approaches to enable a four-limbed robot to get over a step higher than its leg with torso contact. The higher the step becomes, the more difficult it is for legged robots to get over from the viewpoint of stability and kinematic reachability. Torso landing contributes to improving stability and robustness of motion for moving onto high step because of lower center of mass (CoM) and larger support polygon, which is seldomly utilized by previous human-sized legged robots. The approaches in this paper consist of the following two components. As for hardware, spikes are arranged on the bottom of robot' s body for stable torso landing on a high step. As for motion generation, Sequential Quadratic Programming (SQP) is utilized to generate motion with torso landing to guarantee stability of robots during getting over the high step. From experiments, it is confirmed that the fourlimbed robot WAREC-I succeeded in moving onto a step with the height of 865mm.
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U2 - 10.1109/IROS40897.2019.8967833
DO - 10.1109/IROS40897.2019.8967833
M3 - Conference contribution
AN - SCOPUS:85081165448
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6324
EP - 6331
BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Y2 - 3 November 2019 through 8 November 2019
ER -