Moving onto High Steps for a Four-limbed Robot with Torso Contact

Matsuyama, Takashi; Naito, Hiroshi; Satō, Takashi; Terae, Kota; Murakami, Makoto; Yoshida, Shunya; Takanishi, Atsuo; Hashimoto, Kenji; Matsubara, Takanobu; Namura, K.; Sun, Xiao; Imai, Atsushi; Ohkawara, Masahiro; Kimura, Shunsuke; Kumagai, Kazukiyo; Yamaguchi, Katsuhito

doi:10.1109/iros40897.2019.8967833

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2019

DOI: 10.1109/iros40897.2019.8967833

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Moving onto High Steps for a Four-limbed Robot with Torso Contact

Takashi Matsuyama

Hiroshi Naito

Takashi Satō

et al.

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2024

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Autonomous Inspection System for Underground Pits Using an Articulated Mobile Robot

Tanaka,

Miyamoto,

Takatsu

et al. 2024

JRM

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This study presents an autonomous inspection system for underground pits using an articulated mobile robot. The underground pit is composed of several rooms surrounded by concrete connected to each other by winding pipes. Based on an action list created in advance and environmental maps, the robot autonomously inspects the underground pit by switching between three actions: planar motion, winding pipe passing motion, and image capturing. In planar motion, the robot moves around the room while avoiding obstacles and crosses ditches through distinctive behaviors, switching the allocation of the grounded/ungrounded wheels. In the winding pipe-passing motion, the target path is autonomously generated based on the parameters of the winding pipe. Laboratory and field tests were conducted to demonstrate the effectiveness of the proposed system.

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Autonomous Inspection System for Underground Pits Using an Articulated Mobile Robot

Tanaka,

Miyamoto,

Takatsu

et al. 2024

JRM

View full text Add to dashboard Cite

show abstract

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Moving onto High Steps for a Four-limbed Robot with Torso Contact

Cited by 1 publication

References 17 publications

Autonomous Inspection System for Underground Pits Using an Articulated Mobile Robot

Autonomous Inspection System for Underground Pits Using an Articulated Mobile Robot

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