Dynamic trajectory control of passing over stairs by a biped type leg-wheeled robot with nominal reference of static gait

2002 ◽  
Author(s):  
O. Matsumoto ◽  
S. Kajita ◽  
M. Saigo ◽  
K. Tani
Keyword(s):  
Trajectory Control ◽  
Wheeled Robot ◽  
Nominal Reference ◽  
Dynamic Trajectory

A dynamic trajectory control algorithm for improving the communication throughput and delay in UAV-aided networks

IEEE Network ◽  
2016 ◽  
Vol 30 (1) ◽  
pp. 100-105 ◽  
Author(s):  
Zubair Md. Fadlullah ◽  
Daisuke Takaishi ◽  
Hiroki Nishiyama ◽  
Nei Kato ◽  
Ryu Miura
Keyword(s):  
Control Algorithm ◽  
Trajectory Control ◽  
Throughput And Delay ◽  
Dynamic Trajectory

Laser Detection and Fast Negotiation of Steps with Unknown Position and Height by a Variable-Structure-Type 4-Wheeled Robot

1999 ◽  
Vol 11 (5) ◽  
pp. 380-386
Author(s):  
Takeshi Kikkawa ◽  
◽  
Osamu Matsumoto ◽  
Kazuo Tani ◽  
◽  
...  
Keyword(s):  
Process Planning ◽  
Variable Structure ◽  
Structure Type ◽  
Small Range ◽  
Laser Range ◽  
Laser Detection ◽  
Range Sensor ◽  
Wheeled Robot ◽  
Dynamic Trajectory

We are developing a simple variable-structure-type 4-wheeled robot that maneuvers over steps, having enabled it to step dynamically over steps of known height and of unknown height within a known small range. We consider cdntrol enabling it to negotiate steps whose height and position are unknown by detecting step position and height using a laser range sensor. We propose in-process planning of a dynamic trajectory during an experiment, enabling the robot to quickly negotiate steps whose position and height are both unknown.

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