Title :
Force/attitude control of mine detecting six-legged locomotion robot
Author :
Uchida, Hiroaki ; Shimoi, Nobuhiro
Author_Institution :
Kisarazu Nat. Coll. of Technol., Kisarazu, Japan
Abstract :
We propose a mine detecting method using a six-legged locomotion robot. It is consider that mine detecting field is an uneven terrain, so, we need to develop the stable walking method using attitude control. We propose an attitude control method and verify the validity of attitude control method by 3D simulations on an even terrain as well as an uneven terrain
Keywords :
attitude control; feedback; feedforward; force control; legged locomotion; military systems; attitude control; feedback; feedforward; force control; mine detection; mobile robot; six-legged locomotion; Educational institutions; Foot; Force control; Humans; Leg; Legged locomotion; Mobile robots; Robot sensing systems; Sawing; Stability;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.894699
