DocumentCode
2650217
Title
Proposal for step-up gait of RT-Mover, a four-wheel-type mobile robot for rough terrain with simple leg mechanism
Author
Nakajima, Shuro
Author_Institution
Dept. of Adv. Robot., Chiba Inst. of Technol., Chiba, Japan
fYear
2010
fDate
14-18 Dec. 2010
Firstpage
351
Lastpage
356
Abstract
RT-Mover can move on continuous rough terrain using a motion control technique proposed in a previous paper. There is, however, larger rough terrain in a real environment than in the previous paper, so, RT-Mover can not operate there using that technique. In this paper, a step-up gait for an upward step is proposed for use in discontinuous rough terrain. The flow of processes in the step-up gait and stability during the gait are discussed. The proposed gait is evaluated through simulation and experiment.
Keywords
mobile robots; motion control; RT-mover; four wheel type mobile robot; motion control technique; rough terrain; simple leg mechanism; Leg; Legged locomotion; Shafts; Stability analysis; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location
Tianjin
Print_ISBN
978-1-4244-9319-7
Type
conf
DOI
10.1109/ROBIO.2010.5723352
Filename
5723352
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