DocumentCode
1793943
Title
3D movement of legged robot in narrow space
Author
Toda, Takechi ; Ohara, Kenichi ; Kamiyama, Kazuto ; Kojima, Masaru ; Horade, Mitsuhiro ; Mae, Yasushi ; Arai, Tamio
Author_Institution
Grad. Sch. of Eng. Sci., Osaka Univ., Toyonaka, Japan
fYear
2014
fDate
10-12 Nov. 2014
Firstpage
1
Lastpage
2
Abstract
In this paper, two new types of gait for moving in narrow space for the limb mechanism robot ASTERISK are proposed. The proposed “vertical wave gait” and “vertical cross gait” are generated on a simulator and achieved with an actual robot in an environment made up of two parallel walls.
Keywords
legged locomotion; robot dynamics; 3D movement; ASTERISK robot; legged robot; limb mechanism robot; narrow space; vertical cross gait; vertical wave gait; Educational institutions; Joints; Legged locomotion; Robot kinematics; Robot sensing systems; Three-dimensional displays;
fLanguage
English
Publisher
ieee
Conference_Titel
Micro-NanoMechatronics and Human Science (MHS), 2014 International Symposium on
Conference_Location
Nagoya
Print_ISBN
978-1-4799-6678-3
Type
conf
DOI
10.1109/MHS.2014.7006109
Filename
7006109
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