2P1-B19 斜面の3次元認識に基づく2足-4足歩行間遷移を用いた歩行安定化

概要

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The applicative field of activities of robots who have only one locomotion strategy is limited. As means of enhancing the mobile range, it is necessary to have various locomotion modes. Therefore, we focus on dynamic transitions between several kinds of locomotion modes adapting to environmental changes. In this paper, we aim to realize stable locomotion along some unknown test courses consisting of flat and slope with transition between biped and quadruped walks. To achieve this transition, we propose a method to recognize a slope in three dimensions, a design of the transition motion, and a technique for modifying the trajectories of quadruped walk to move between flat and slope. By experiments, we verify that the proposed methods can successfully be applied to upslope case.
一般社団法人日本機械学会の論文
2009-05-25