3D Visual Information Processing and Gait Control of a Quadruped Robot - for operation on a steep slope protected by a free frame -

2003 ◽  
Vol 15 (3) ◽  
pp. 349-355 ◽  
Author(s):  
Takahiro Doi ◽  
◽  
Hideyuki Tsukagoshi ◽  
Shigeo Hirose
Keyword(s):  
Visual Information ◽  
Quadruped Robot ◽  
Steep Slope ◽  
Walking Robot ◽  
Construction Work ◽  
Gait Control ◽  
Natural Slope ◽  
Quadruped Walking Robot ◽  
The Stability ◽  
Steep Slopes

Construction work on steep slopes is difficult and dangerous, but it is also difficult to automate work at such type sites. One reason is that construction sometimes calls for movement across a ""Free Frame"" - a structure built to keep a slope from collapsing - and because of the ups and downs of the natural slope, it is difficult to design a purposeful simple mechanism to move on this frame. We propose a sensor-based quadruped walking robot that moves on the slope without damage to the surface of the frame, and developed a TITAN VII prototype robot. We detail the techniques required by this type robot to move and work on steep slopes. Practical ways of A) detecting positions and orientations of frame surfaces on rough slopes and B) stepping over the frame and maintaining the stability of the robot using positioning, are presented and their effectiveness is verified through experiments.

scholarly journals Development of a Quadruped Walking Robot TITAN XI for Steep Slope Operation - Step Over Gait to Avoid Concrete Frames on Steep Slopes -

2007 ◽  
Vol 19 (1) ◽  
pp. 13-26 ◽  
Author(s):  
Ryuichi Hodoshima ◽  
◽  
Takahiro Doi ◽  
Yasushi Fukuda ◽  
Shigeo Hirose ◽  
...  
Keyword(s):  
Stability Margin ◽  
Walking Robot ◽  
Concrete Frames ◽  
Gait Control ◽  
Graphical Simulation ◽  
Quadruped Walking Robot ◽  
Sufficient Stability ◽  
Adaptive Gait ◽  
Step Over ◽  
Steep Slopes

We detail a step over gait for a quadruped walking robot that maintains a continuous walking with sufficient stability margin for avoiding ferroconcrete reinforcement frames covering steep slopes. For this gait, the robot must adapt itself to terrain and step over these frames. We propose a terrain-adaptive gait based on an intermittent crawl gait using map information. After introducing the gait control algorithm, we show results of graphical simulation to verify the proposed algorithm. Then, these discussions are established by walking experiments using the developed quadruped walking robot named TITAN XI.

Development of Quadruped Walking Robot TITAN XI for Steep Slopes - Slope Map Generation and Map Information Application -

2006 ◽  
Vol 18 (3) ◽  
pp. 318-324 ◽  
Author(s):  
Takahiro Doi ◽  
◽  
Ryuichi Hodoshima ◽  
Yasushi Fukuda ◽  
Shigeo Hirose ◽  
...  
Keyword(s):  
Range Finder ◽  
Walking Robot ◽  
Concrete Frames ◽  
Total Station ◽  
Quadruped Walking Robot ◽  
Map Generation ◽  
Weight Compensation ◽  
Steep Slopes

We discuss the generation of maps of steep slopes covered with concrete frames and map information application for a quadruped walking robot, TITAN XI. Suspended by a pair of tethers, the robot requires map information of the environment, localization for walking and tether control for weight compensation. After introducing TITAN XI, we propose map generation using Topcon’s Total Station range-finder, robot self localization, and weight compensation by tether control based on map information using one Total Station. We conclude with a review of the results of walking experiments on an undulated slope using TITAN XI.

A gait simulator for a quadruped walking robot

Robotica ◽  
1992 ◽  
Vol 10 (1) ◽  
pp. 57-64 ◽  
Author(s):  
John Stoner ◽  
Robert H. Davis
Keyword(s):  
Programming Language ◽  
Gait Cycle ◽  
Complete System ◽  
Walking Robot ◽  
C Programming Language ◽  
Design And Implementation ◽  
Centre Of Gravity ◽  
C Programming ◽  
Quadruped Walking Robot ◽  
The Stability

SummaryThe description is provided for the design and implementation of a system capable of simulating the motions of a quadruped walking robot. The system aims to investigate the feasibility of the robot's walking cycle. This is achieved by considering the robot's stability and more specifically the position of its centre of gravity in relation to its supporting legs. The robot is modelled as a solid body connected to four jointed limbs which are moved through a series of gaits, their positions being calculated at a set of discrete intervals. The resulting information is displayed using a graphical module to present an image of the moving robot and indicate its centre of gravity and support pattern. The complete system indicates the stability of the robot throughout a user-defined gait cycle and is both portable and adaptable.The system is implemented on a HLH Orion and an Atari 1040ST in the C programming language and is aimed at providing support for the Department of Mechanical Engineering at Edinburgh University where the particular robot is being built.

A hierarchical strategy for planning crab gaits of a quadruped walking robot

Robotica ◽  
1994 ◽  
Vol 12 (1) ◽  
pp. 23-31 ◽  
Author(s):  
Yun Jung Lee ◽  
Zeungnam Bien
Keyword(s):  
Body Movement ◽  
Stability Margin ◽  
The Body ◽  
Body Motion ◽  
Planning Problem ◽  
Walking Robot ◽  
Optimal Sequence ◽  
Quadruped Walking Robot ◽  
Feasible Range ◽  
The Stability

A method of planning crab gaits for a quadruped walking robot is proposed. In the conventional gait study, one of the major concerns has been the foothold selection based on a prescribed body motion, but, in the paper, we consider the body motion planning problem under the assumption that a set of irregular footholds is given, and propose a hierarchical strategy. The strategy can be divided into three stages: first, a feasible range of the body movement is sought under the kinematic limit and the stability constraint. Next, a swing-leg sequence is selected with the aid of a proposed measure of traversability. Finally, an optimal sequence of the body motion is planned by the proposed procedure of otpimizing the gait stability margin. To verify the efficiency of the proposed method, simulation results are presented.

scholarly journals Development of a Quadruped Walking Robot TITAN XI for Steep Slopes Operation-Conceptual Design and Basic Experiment of Leg Driving Mechanism-

2005 ◽  
Vol 23 (7) ◽  
pp. 847-857 ◽  
Author(s):  
Ryuichi Hodoshima ◽  
Takahiro Doi ◽  
Yasushi Fukuda ◽  
Shigeo Hirose ◽  
Toshihito Okamoto ◽  
...  
Keyword(s):  
Conceptual Design ◽  
Driving Mechanism ◽  
Walking Robot ◽  
Basic Experiment ◽  
Quadruped Walking Robot ◽  
Steep Slopes
Sign in / Sign up

Export Citation Format

Share Document