Title :
Study of quadruped walking robot climbing and walking down slope
Author :
Pan, Junmin ; Cheng, Junshi
Author_Institution :
Shanghai Jiao Tong Univ., China
Abstract :
Presents an experimental study of climbing and walking down a slope by the JTUWM-II quadruped robot. A scheme by which the walking robot detects the slope and measures the gradient of the slope with tactile sensors is proposed. An algorithm for the body to turn parallel with the sloping surface is developed. In the transition area gait adjustment is made for stable walking. Also the maximum gradient of the slope for the robot and the optimum body height are given
Keywords :
angular measurement; mobile robots; position control; tactile sensors; JTUWM-II; gradient measurement; quadruped walking robot; slope ascent; slope climbing; slope descent; tactile sensors; Foot; Gravity; Leg; Legged locomotion; Parallel robots; Robot sensing systems; Servomechanisms; Servomotors; Stability; Tactile sensors;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174729
