Abstract:
In this paper, we propose a basic control method for the leg-wheel robot moving on unexplored rough terrains. When moving on a rough terrain, the compliance values and th...Show MoreMetadata
Abstract:
In this paper, we propose a basic control method for the leg-wheel robot moving on unexplored rough terrains. When moving on a rough terrain, the compliance values and the trajectories of legs are set up according to the environment without using external sensors. And the step axis mechanism that we have developed, realizes the stable rolling movement of the robot. The proposed method is evaluated by a walking experiment in an outdoor natural terrain.
Published in: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
Date of Conference: 28 September 2004 - 02 October 2004
Date Added to IEEE Xplore: 14 February 2005
Print ISBN:0-7803-8463-6