Centipede type walking robot (CWR-2)

Torige, Akira; Yagi, Satoshi; Makino, Hiroshi; Yagami, T.; Ishizawa, N.

doi:10.1109/iros.1997.649095

Cited by 6 publications

(1 citation statement)

References 5 publications

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“…Centipedelike multi-legged robots as depicted in Fig.1 are expected to have good environment adaptability as well as snake-like robots in addition to the characteristic of multi-legged ones. However, the walking control is considered to be difficult because of the redundant degrees of freedom and realized only on even terrain in conventional researches [1], [2], [3].…”

Section: Introductionmentioning

confidence: 99%

Follow-the-Contact-Point gait control of centipede-like multi-legged robot to navigate and walk on uneven terrain

Inagaki

Niwa

Suzuki

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper proposes a novel locomotion control scheme of centipede-like multi-legged robot, which is called Follow-the-Contact-Point (FCP) gait control. A centipede-like multi-legged robot is composed of segmented trunks which have a pair of legs and are connected with fore and/or rear ones by joints. This control scheme realizes locomotion control of multilegged robot on uneven terrain with perfectly decentralized manner. The main concept of the control scheme is to relay the contact points from the fore leg to the rear leg. By creating contact points of the first legs adequately on the environment, the robot can climb over obstacles and be navigated successfully. Finally, the result of physical simulation of a 20-legged robot shows the availability of the proposed method.

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Section: Introductionmentioning

confidence: 99%