Summary
Foot groping is one way to evaluate the stability of footholds for legged locomotives on rough terrain. For further acquisition of ground information, we installed active ankles with two active joints on the experimental quadruped vehicle, RoQ2. To compensate the loss of passive adaptation of ankles to terrain, active adaptation using COF estimation is implemented. COF is a center of pressure on a sole and estimated by sole sensor, which consists of four FSRs. Sole sensors for COF can determine the sole plane when adapting to rough terrain. This paper also shows that our new proposition can detect an edge of a beam or a step on the ground without thrusting a foot to the objects.
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© 2006 Springer-Verlag Berlin Heidelberg
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Okamoto, S., Konishi, K., Tokuda, K., Tadokoro, S. (2006). Adaptation to Rough Terrain by Using COF Estimation on a Quadruped Vehicle. In: Corke, P., Sukkariah, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 25. Springer, Berlin, Heidelberg . https://doi.org/10.1007/978-3-540-33453-8_42
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DOI: https://doi.org/10.1007/978-3-540-33453-8_42
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-33452-1
Online ISBN: 978-3-540-33453-8
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