Crawling motion and foot trajectory modification control for legged robot on rough terrain

Takashi Matsuzawa, Ayanori Koizumi, Kenji Hashimoto, Xiao Sun, Shinya Hamamoto, Tomotaka Teramachi, Nobuaki Sakai, Shunsuke Kimura, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this paper, we propose a crawling motion to reduce the risk of malfunction due to falling when a legged robot travels across rough terrain. This locomotion method includes a phase in which the torso of the robot comes into contact with the ground to lower its center of mass compared with that during conventional bipedal or quadrupedal walking motion. In rough terrain, the ability of a robot to crawl is very likely to be hindered since its feet may encounter holes or protrusions caused by road surface damage. To avoid this issue, we suggest a modified foot trajectory control method based on information obtained by force and attitude angle sensors. To verify the effectiveness of the proposed crawling motion on rough terrain, we created a terrain model using a dynamics simulator and conducted an experiment by applying the proposed control method to a four-limbed robot traveling across the modelled terrain. The experimental results confirmed that a robot can successfully traverse rough terrain using the proposed crawling motion and that the foot trajectory modification control method can enhance the performance of the robot during such motion.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1976-1982
Number of pages7
ISBN (Electronic)9781509067572
DOIs
Publication statusPublished - 23 Aug 2017
Event14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 - Takamatsu, Japan
Duration: 6 Aug 20179 Aug 2017

Publication series

Name2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017

Conference

Conference14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
CountryJapan
CityTakamatsu
Period6/08/179/08/17

Keywords

  • Crawling
  • Disaster Response
  • Legged Robot

Fingerprint Dive into the research topics of 'Crawling motion and foot trajectory modification control for legged robot on rough terrain'. Together they form a unique fingerprint.

  • Cite this

    Matsuzawa, T., Koizumi, A., Hashimoto, K., Sun, X., Hamamoto, S., Teramachi, T., Sakai, N., Kimura, S., & Takanishi, A. (2017). Crawling motion and foot trajectory modification control for legged robot on rough terrain. In 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017 (pp. 1976-1982). [8016121] (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2017.8016121