Name
Abstract | ||
|---|---|---|
Improvement of the adaptability of a quadruped robot in rough terrain is studied in this paper. First, the position and posture of the body of the robot are adjusted to maximize the number of choices for foot placement of the next swing leg. The more choices the robot has to select the next suitable foothold, the better it will be to cope with rough terrain. Second, an effective foothold search algorithm is developed. The foothold search algorithm not only tries to find a valid foothold but also tries to maintain high adaptability of the robot. For implementing the algorithm, some new concepts such as potential swing direction, complementary kinematic margin and elliptical set of candidate footholds are also proposed. The effectiveness of this procedure in improving the adaptability of a quadruped robot moving in challenging terrain is verified in both simulation and experiment. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/IROS.2009.5354471 | IROS |
Keywords | Field | DocType |
valid foothold,next swing leg,next suitable foothold,foothold search algorithm,potential swing direction,quadruped robot,enhanced adaptability,candidate foothold,unstructured terrain,effective foothold search algorithm,high adaptability,rough terrain,kinematics,search algorithm,data mining,robot kinematics,leg,foot | Adaptability,Search algorithm,Kinematics,Computer science,System recovery,Control theory,Terrain,Robot kinematics,Control engineering,Robot,Swing | Conference |
Citations | PageRank | References |
1 | 0.35 | 3 |
Authors | ||
8 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Vo-Gia Loc | 1 | 34 | 4.44 |
| Se-gon Roh | 2 | 170 | 20.94 |
| Ig Mo Koo | 3 | 55 | 4.22 |
| Tran Duc Trong | 4 | 21 | 2.31 |
| Ho Moon Kim | 5 | 24 | 5.10 |
| Hyungpil Moon | 6 | 175 | 38.32 |
| Hyouk Ryeol Choi | 7 | 337 | 60.51 |
| Sangdoek Park | 8 | 14 | 1.71 |