1A1-E09 Decision Making for an Autonomous Quadruped Robot Using Potential Function Method

Abstract

In this paper, we have aimed to enable a steady fast by change the program and the hardware of an autonomous quadruped robot walking and turn and to do the navigation. At that time, the one that the addition and the deletion of the program can be easily done without using a complex control method. This time, we consider the change in the action of Subsumption Architecture and Potential Function. And, whether the module that we changed operates well is considered. It is thought that the navigation whose PF newly introduced this time is superior to SA can be done from the experiment result.