Adaptive Locomotion Transition based on Recognition of an Upslope

In this research, we focus our discussion on adaptive locomotion transitions of a robot based on environmental recognition. The field of activities of a robot who has only one locomotion strategy is limited. As a means of expand the moving range, we therefore propose transitions between several kinds of locomotion modes adapting to environmental changes. In this paper, we demonstrate recognition of an upslope with the information from a laser range finder, and locomotion transitions based on it. Then, the goal of this paper is to verify that the robot can move along a test course consisting of a flat and an upslope with proposal techniques.