有腿机器人在狭窄空间中的三维运动

2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS) Pub Date : 2014-11-01 DOI:10.1109/MHS.2014.7006109

Takeshi Toda, K. Ohara, K. Kamiyama, M. Kojima, M. Horade, Y. Mae, T. Arai

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引用次数: 0

摘要

提出了两种适用于四肢机构机器人ASTERISK窄小空间运动的新型步态。提出的“垂直波浪步态”和“垂直交叉步态”是在模拟器上生成的，并在由两个平行墙壁组成的环境中由实际机器人实现。

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3D movement of legged robot in narrow space

In this paper, two new types of gait for moving in narrow space for the limb mechanism robot ASTERISK are proposed. The proposed “vertical wave gait” and “vertical cross gait” are generated on a simulator and achieved with an actual robot in an environment made up of two parallel walls.

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2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)

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