DocumentCode
2611072
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
fYear
2008
fDate
2-5 July 2008
Firstpage
395
Lastpage
399
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/AIM.2008.4601693
Filename
4601693
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