2A1-T05 Gait generation for quadrupedal wheeled robot to go up and down stairs(Walking Robot(1))

Abstract

We are developing autonomous mobile robot that assumes application of guide dog and service dog. We designed robot having 4 legs and 8 wheels. The robot can move by wheels on the level ground and move by legs on the rough terrain. Whenever we make the robot go up and down stairs, we were making gait manually before. So, the robot couldn't go up and down unknown-stairs. In this paper, it reports gait generation for quadrupedal wheeled robot to go up and down stairs.