Adaptive Locomotion by Two Types of Legged Robots with an Actuator Network System

被引：0

作者：

Ryu, Hideyuki ^{[1
]}

Nakata, Yoshihiro ^{[1
]}

Nakamura, Yutaka ^{[1
]}

Ishiguro, Hiroshi ^{[1
]}

机构：

[1] Osaka Univ, Grad Sch Engn Sci, Dept Syst Innovat, 1-3 Machikaneyama, Toyonaka, Osaka 5608531, Japan

来源：

2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016) | 2016年

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Locomotion on the rough and variable ground surfaces is crucial for robots to complete various tasks. Recent advancement in numerical computation allow such locomotive robots to manipulate in real environments using a model-based control framework. This approach is successful if the precise model it is obtained. However, it is not always feasible to use the precise model because there are various factors related to both the robot and its surroundings. In this paper, we report the locomotion experiments with 2 types of legged robot that can change its behavior by switching connection patterns among hydraulic cylinders mounted on the robot's legs. An actuator network system (ANS) is used to switch mutual interconnection of cylinders. The switching connection allows the robots to realize not only adaptive locomotion to the environment but also operation of the traveling direction.

引用

页码：2069 / 2074

页数：6

共 12 条

[1]

Alexander R. M., 2003, WALKING RUNNING HOPP

[2]

An ZY, 2015, IEEE INT C INT ROBOT, P5838, DOI 10.1109/IROS.2015.7354206

[3] Efficient bipedal robots based on passive-dynamic walkers [J].