Development of a Quadruped Walking Robot TITAN XI for Steep Slope Operation - Step Over Gait to Avoid Concrete Frames on Steep Slopes -

被引：23

作者：

Hodoshima, Ryuichi ^{[1
]}

Doi, Takahiro ^{[2
]}

Fukuda, Yasushi ^{[3
]}

Hirose, Shigeo ^{[1
]}

Okamoto, Toshihito ^{[4
]}

Mori, Junichi ^{[4
]}

机构：

[1] Tokyo Inst Technol, Mech & Aerosp Engn Sci & Engn, Meguro Ku, 2-12-1 Ookayama, Tokyo 1528552, Japan

[2] Chukyo Univ, Life Syst Sci & Technol, Toyota Shi, Aichi 4700393, Japan

[3] Tamagawa Univ, Mech Syst Engn, Tokyo 1948610, Japan

[4] TAISHO KENSETU Corp, Chiba 2994332, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2007年 / 19卷 / 01期

关键词：

quadruped walking robot; intermittent crawl gait; terrain-adaptive gait; concrete frame avoidance; map generation;

D O I：

10.20965/jrm.2007.p0013

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We detail a step over gait for a quadruped walking robot that maintains a continuous walking with sufficient stability margin for avoiding ferroconcrete reinforcement frames covering steep slopes. For this gait, the robot must adapt itself to terrain and step over these frames. We propose a terrain-adaptive gait based on an intermittent crawl gait using map information. After introducing the gait control algorithm, we show results of graphical simulation to verify the proposed algorithm. Then, these discussions are established by walking experiments using the developed quadruped walking robot named TITAN XI.

引用

页码：13 / 26

页数：14

共 8 条

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