Sensing and Control of Quadruped Walking and Climbing Robot Over Complex Environment

被引：8

作者：

Loc, Vo Gia ^{[1
]}

Koo, Ig Mo ^{[1
]}

Trong, Tran Duc ^{[1
]}

Song, Young Kuk ^{[1
]}

Kim, Ho Moon ^{[1
]}

Moon, Hyung Pil ^{[1
]}

Choi, Hyouk Ryeol ^{[1
]}

机构：

[1] Sungkyunkwan Univ, Sch Mech Engn, Suwon, Kyonggi Do, South Korea

来源：

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS | 2008年

关键词：

D O I：

10.1109/IROS.2008.4650786

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, we propose a method of sensing outdoor environments for a walking and climbing robot. The proposed method ensures the realtime perception of the surface geometry by integrating a range and a gyroscope with a novel arrangement of the sensors. In addition, a gait planning algorithm based on the sensing method is presented. The algorithm runs fast since it is simple, and the rich information from the sensing system helps the robot overcome the real environment, even an extremely complex one. The sensing system is implemented in a quadruped walking robot, called MRWALLSPECT IV and its effectiveness is proved experimentally.

引用

页码：3884 / 3889

页数：6