1P1-O04 Mobile Robot for Human Environment with Novel Telescopic Manipulators(Mobile Robot with Special Mechanism (1))

A method for a six-legged robot of walking on terrain with various undulations by tripod gait is proposed. First the robot detects foot landing using touch sensors, and estimates the inclination angle of the ground from the landing positions; the estimated ground is called "reference ground". Second the robot measures the inclination angle of its body using acceleration sensor. Then the legs move up and down so that the body may be parallel to and may keep a constant distance from the reference ground. If the robot encounters deep depressions or downward slopes, the robot suspends walking and actively inclines the reference ground. As a result the body inclines, and the swing leg goes further down. When the swing leg reaches the ground, the robot restarts walking. Due to the feedback gain of body orientation control, the robot does not respond to fine change of undulation. Hence the body keeps a constant orientation on short distance undulation or rugged surface, and gradually inclines its body on long distance undulation such as slopes and stairs. The ability of climbing up and down slopes and steps in longitudinal and transverse directions is evaluated by experiments. The maximum angle of climbing up slopes is 30 degree, and that of climbing down slopes is 40 degree. The maximum height of climbing up steps is 150 mm, and that of climbing down steps is 180 mm. The robot can also go through a bump of 125 mm width and 60 mm height.

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Tripod gait for six-legged robots walking on undulating terrain

Sato

Inoue

2016

Transactions of the JSME (In Japanese)

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Coordinated control for five-leg one-arm robots

Takatsu

Inoue

2020

Transactions of the JSME (In Japanese)

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A working six-legged robot which can switch three modes of locomotion and manipulation by using some legs as arms is under development: six-leg mode and two kinds of four-leg two-arm modes, where the robot holds and manipulates an object with two arms. Attaching hands to the legs enables five-leg one-arm mode; the robot grasps a small object with one hand and manipulates the object with one arm, while walking stably with five legs. Because the arm has three DOF, the robot needs to move its body with the five legs in order to control the pose of the hand. The present paper proposes a coordinated control method of five legs and one arm to manipulate five-DOF pose of the hand. The robot stands on the five legs. From the desired velocity and angular velocity of the hand, the joint velocities of the arm and the velocity and angular velocity of the body are determined. From the determined body velocity and angular velocity, the joint velocities of the five legs are obtained. These joint velocities are commanded to the robot. If at least one of the five support legs reaches the limit of its movable area, the robot stops the arm and body temporarily. Then the five legs step to the center of their movable areas. After the five legs finish stepping, the robot resumes the control of the hand. Experiments of moving the hand along straight lines show the validity of the proposed method.

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1P1-O04 Mobile Robot for Human Environment with Novel Telescopic Manipulators(Mobile Robot with Special Mechanism (1))

Cited by 2 publications

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Tripod gait for six-legged robots walking on undulating terrain

Tripod gait for six-legged robots walking on undulating terrain

Coordinated control for five-leg one-arm robots

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