Proposal of walking method to avoid falling down using vibration on loose ground with slope

Tomohiro Watanabe, Kojiro Iizuka

研究成果: Conference contribution

抄録

In this paper, walking method using vibration for leg typed rover is proposed to avoid falling down. Proposed method increases the tumble stability margin using vibration to improve stability during slope walking. In previous study, we confirmed that sinkage of the leg to the ground is increased when giving vibration. In the proposed method, posture of the leg typed rover is maintained to be stability using this feature. Experiments using a testbed was carried out. Moreover, we could get knowledge that the method using vibration was effective to avoid falling down the rover.

本文言語English
ホスト出版物のタイトルRobots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020
編集者Valery G. Gradetsky, Nikolay N. Bolotnik, Mohammad Osman Tokhi, Manuel Silva, Gurvinder S. Virk
出版社CLAWAR Association Ltd
ページ239-246
ページ数8
ISBN(印刷版)9781916449046
DOI
出版ステータスPublished - 2020
イベント23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020 - Moscow, Russian Federation
継続期間: 2020 8 242020 8 26

出版物シリーズ

名前Robots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020

Conference

Conference23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020
国/地域Russian Federation
CityMoscow
Period20/8/2420/8/26

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用

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