1A1-H05 Autonomous Navigation of Hydraulically Actuated Hexapod Robot COMET-IV : The 2nd Report: Obstacle Avoidance with Laser Range Finder

Abstract

This paper described a method for obstacle avoidance of a hydraulically actuated hexapod robot COMET-IV. This robot is an autonomous robot to assist during hazardous operations in the outdoors. First, a gait planning method to walk in omni-direction with a circular gait and a crab gait is shown. The effectiveness of the gait planning method is shown by the results of a lane change walking test and a zigzag walking test in the outdoors. Considering the tracking error of COMET-IV, we developed the navigation system which consists of real time terrain scanning with laser range finder and path planning. Finally, we introduce the elementary experiment of obstacle avoidance in the outdoors.