接地点追従型歩行制御と脚先センサによる局所制御を統合した6脚移動ロボットの不整地歩行

抄録

This paper proposes integration of a gait control of a hexapod robot and multiple local controls in each leg. A range sensor and linear position sensors equipped on the leg are used in the local controls which are target-pursuit, ground-contact-avoidance, self-collision-avoidance, and obstacle-avoidance. The local controls are integrated based on Riemannian motion policies (RMPs) and are incorporated in follow-the-contact-point (FCP) gait control. The effectiveness of the proposed control architecture is shown in experiments in which a hexapod robot walks over rough terrain.