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
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;
Conference_Titel :
Micro-NanoMechatronics and Human Science (MHS), 2014 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
978-1-4799-6678-3
DOI :
10.1109/MHS.2014.7006109
