Design of a quadruped walking vehicle for dynamic walking and stair climbing

Hirose, Shigeo; Yoneda, Kan; Arai, Keigo; Ibe, Tomoyoshi

doi:10.1163/156855395x00021

Cited by 26 publications

(9 citation statements)

References 3 publications

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“…An alternative approach would be to develop a legged robot for the task. Many varieties of legged robots have been shown to successfully climb stairs including, hexapods (Moore and Buehler, ; Saranli et al, ), quadrupeds (Buehler et al, ; Hirose et al, ; Talebi et al, ), and bipeds such as the Honda humanoid robot (Hirai et al, ). However, researchers have been unable to successfully develop legged robots to climb in confined spaces such as pipes.…”

Section: Climbing Robotsmentioning

confidence: 99%

The “Djedi” Robot Exploration of the Southern Shaft of the Queen's Chamber in the Great Pyramid of Giza, Egypt

Richardson

Whitehead²,

Ng³

et al. 2013

Journal of Field Robotics

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There are many unanswered questions regarding the construction and purpose of the Great Pyramid of Giza, Egypt. A climbing robot called “Djedi” has been designed, constructed, and deployed to explore shafts of the queen's chamber within the Great Pyramid. The Djedi robot is based on the concept of inchworm motion and is capable of carrying a long reach drill or snake camera. The robot successfully climbed the southern shaft of the Great Pyramid, deployed its snake camera, and revealed writing not seen for thousands of years. This paper details the design of the robot, including climbing steps in the shaft and lessons learned from experimental deployment. © 2013 Wiley Periodicals, Inc.

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Section: Climbing Robotsmentioning

confidence: 99%

The “Djedi” Robot Exploration of the Southern Shaft of the Queen's Chamber in the Great Pyramid of Giza, Egypt

Richardson

Whitehead²,

Ng³

et al. 2013

Journal of Field Robotics

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“…TITAN-VI, as shown in Figure 5, has succeeded to walk on stairs (Hirose et al 1995;Yoneda et al, 2000). TITAN-VI consists of two separated body segments, where front and rear segment can slide linearly up and down in order to negotiate a large height difference of front and rear landing points on the stairs.…”

Section: Quadrupedmentioning

confidence: 99%

Stair Climbing Robots and High-Grip Crawler

Yoneda¹,

Ota²,

Hirose³

2010

Climbing and Walking Robots

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“…On the other hand, by comparing types of small mobile robot, legged robot has advantages of posture flexibility and high terrain adaptability as legs do not need to keep contact to ground at all times. Hirose et al [2], [3] developed robots which could efficiently walk through various terrains.…”

Section: Introductionmentioning

confidence: 99%

Dynamic rotational walking motion on inclined-plane with posture optimization by genetic algorithms

Theeravithayangkura

Takubo

Ohara

et al. 2011

2011 IEEE International Conference on Mechatronics and Automation

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New inclined-plane motion for limb mechanism robot ASTERISK's dynamic rotational walking motion is designed. The dynamic rotational walking motion is designed based on the isotropic leg arrangement. Two controllers are used to control the robot; the Preview control of zero moment point with cart-table model to control the robot's center of mass trajectory and the resolved momentum control to maintain stability of the robot. The authors optimized the foot positions for each inclined-angle by using genetic algorithms. The inclined-plane motions are confirmed in the dynamic simulator, Open Dynamic Engine, before implementing the motions into actual robot. The actual robot could walk upward and downward on inclined-planes with inclined-angle of 5 and 10 degree.

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Design of a quadruped walking vehicle for dynamic walking and stair climbing

Cited by 26 publications

References 3 publications

The “Djedi” Robot Exploration of the Southern Shaft of the Queen's Chamber in the Great Pyramid of Giza, Egypt

The “Djedi” Robot Exploration of the Southern Shaft of the Queen's Chamber in the Great Pyramid of Giza, Egypt

Stair Climbing Robots and High-Grip Crawler

Dynamic rotational walking motion on inclined-plane with posture optimization by genetic algorithms

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