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


研究成果: Article査読

1 被引用数 (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.

ジャーナルInternational Journal of Mechatronics and Automation
出版ステータスPublished - 2020

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 計算力学
  • 産業および生産工学
  • 計算数学
  • 人工知能
  • 電子工学および電気工学


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