抄録
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.
| 本文言語 | English |
|---|---|
| ホスト出版物のタイトル | Humanoids 2016 - IEEE-RAS International Conference on Humanoid Robots |
| 出版社 | IEEE Computer Society |
| ページ | 1270-1275 |
| ページ数 | 6 |
| ISBN（電子版） | 9781509047185 |
| DOI | |
| 出版ステータス | Published - 2016 12月 30 |
| イベント | 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 - Cancun, Mexico 継続期間: 2016 11月 15 → 2016 11月 17 |
Other
| Other | 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 |
|---|---|
| 国/地域 | Mexico |
| City | Cancun |
| Period | 16/11/15 → 16/11/17 |
ASJC Scopus subject areas
- 人工知能
- コンピュータ ビジョンおよびパターン認識
- ハードウェアとアーキテクチャ
- 人間とコンピュータの相互作用
- 電子工学および電気工学