DocumentCode
1672782
Title
A study on traversability of quadruped robot in rough terrain
Author
Loc, Vo-Gia ; Koo, Ig Mo ; Trong, Tran Duc ; Kim, Ho Moon ; Moon, Hyungpil ; Park, Sangdoek ; Choi, Hyouk Ryeol
Author_Institution
Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon, South Korea
fYear
2010
Firstpage
1707
Lastpage
1711
Abstract
In this work, a study on improving traversability of a quadruped robot in a 3D rough terrain is presented. The interaction between the robot and the terrain is analyzed. The analysis shows that the traversability of the robot can be significantly improved by carefully considering the position and orientation of the robot´s body in each step. The effectiveness of the proposed algorithm is verified in both simulation and experiment.
Keywords
legged locomotion; 3D rough terrain; legged locomotion; quadruped robot traversability; Kinematics; Leg; Legged locomotion; Rain; Robot kinematics; Service robots; legged locomotion; quadruped robot; rough terrain;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location
Gyeonggi-do
Print_ISBN
978-1-4244-7453-0
Electronic_ISBN
978-89-93215-02-1
Type
conf
Filename
5669775
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