Title :
Mobility of legged robot by non-contact impedance control
Author :
Takemori, Fumiaki ; Tomita, Naoki ; Kushida, Daisuke ; Kitamura, Akira
Author_Institution :
Dept. of Inf. & Electron., Tottori Univ., Tottori
Abstract :
In this paper, a legged mobile robot carrying the human is developed considering the adaptiveness for inaccessible environment at existing infrastructure. Also, as a method for avoiding the obstacles, the virtual impedance control method is proposed. This method can avoid an obstacle without contacting by receiving virtual force from virtual spring and damper installed in virtual surface region. Finally, the mobility of the legged robot by non-contacting impedance control is presented through some experiments.
Keywords :
collision avoidance; legged locomotion; legged robot mobility; noncontact impedance control; obstacle avoidance; virtual damper; virtual force; virtual impedance control; virtual spring; virtual surface region; Actuators; Axles; Fasteners; Humans; Intelligent robots; Legged locomotion; Mobile robots; Orbital robotics; Springs; Surface impedance;
Conference_Titel :
Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on
Conference_Location :
Xian
Print_ISBN :
978-1-4244-2494-8
Electronic_ISBN :
978-1-4244-2495-5
DOI :
10.1109/AIM.2008.4601693
