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.

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.

Adaptive gait control for a walking robot

1989 ◽  
Vol 6 (1) ◽  
pp. 49-76 ◽  
Author(s):  
Vijay R. Kumar ◽  
Kenneth J. Waldron
Keyword(s):  
Walking Robot ◽  
Gait Control ◽  
Adaptive Gait

scholarly journals Adaptive Gait for Quadruped Walking Robot Using Force Sensor Attached in Foot.

1991 ◽  
Vol 9 (6) ◽  
pp. 707-717 ◽  
Author(s):  
Hironori ADACHI ◽  
Noriho KOYACHI ◽  
Tatsuya NAKAMURA ◽  
Eiji NAKANO
Keyword(s):  
Force Sensor ◽  
Walking Robot ◽  
Quadruped Walking Robot ◽  
Adaptive Gait

scholarly journals Nontumbling Gait for Multilegged Robots and Its Directional Normalized Energy Stability Margin

ISRN Robotics ◽  
2013 ◽  
Vol 2013 ◽  
pp. 1-10
Author(s):  
Evgeny Lazarenko ◽  
Satoshi Kitano ◽  
Shigeo Hirose ◽  
Gen Endo
Keyword(s):  
Stability Criterion ◽  
External Disturbance ◽  
Stability Margin ◽  
Energy Stability ◽  
Dynamic Walking ◽  
Walking Robot ◽  
Gait Control

This paper discusses the importance of a nontumbling gait, a gait that allows preventing complete tumbling of the robot. Nontumbling gait is made possible by the effect of the swing leg which may contact the ground even when the robot is affected by an external disturbance. Such an effect is present in both static walking and dynamic walking. Stability criterion required to maintain the nontumbling gait is then considered and proposed through generalized directional normalized energy stability margin. The validity of the introduced criterion is evaluated by a tumbling experiment with a simplified walking robot model. The concept is also applied to the gait control of the newly developed walking robot TITAN-XIII.

Sign in / Sign up

Export Citation Format

Share Document