Laser Detection and Fast Negotiation of Steps with Unknown Position and Height by a Variable-Structure-Type 4-Wheeled Robot
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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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2006 ◽
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pp. _2P2-D14_1-_2P2-D14_4
1997 ◽
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pp. 294967
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pp. A-4-3