Development of a Quadruped Walking Robot TITAN XI for Steep Slope Operation - Step Over Gait to Avoid Concrete Frames on Steep Slopes -
この論文をさがす
説明
<jats:p>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.</jats:p>
収録刊行物
-
- Journal of Robotics and Mechatronics
-
Journal of Robotics and Mechatronics 19 (1), 13-26, 2007-02-20
Fuji Technology Press Ltd.
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1364233269686502400
-
- ISSN
- 18838049
- 09153942
-
- データソース種別
-
- Crossref
- OpenAIRE