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
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;
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
