2A2-H01 Development of Hydraulically Actuated Hexapod Robot COMET-IV : The 3rd Report : Uneven Terrain Walking Control with Stereo Vision Camera

Abstract

We will propose a hazard operation assistance robot COMET-IV which has an autonomous locomotion, an omni-directional locomotion and uneven terrain walking. We adapted model based discrete time sliding mode control to hydraulically actuated hexapod robot COMET-IV, and detected with stereo vision camera the area where robot can walk.