ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A2-O02
会議情報
2A2-O02 接地点追従法と接地点探索に基づく6脚移動ロボットの不整地歩行と実機検証
岸 俊道栗田 啓喜稲垣 伸吉
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会議録・要旨集 フリー

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This paper addresses on a hunch of control scheme for multi-legged robots to traverse uneven terrain based on observation of the terrain, planning contact points, and walking control. A depth camera is used to observe the terrain. The contact points planning is based on graph search algorithm, A* algorithm. The walking control is based on a decentralized control, Follow-the-Contact-Point gait control. The proposed control scheme is verified by a computer simulation and experimental result.
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© 2015 一般社団法人 日本機械学会
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