{"title":"基于多足部传感器的四足机器人在不平坦地形中的导航","authors":"T. Oomichi, Y. Fuke, T. Hayashi","doi":"10.1109/MFI.1994.398458","DOIUrl":null,"url":null,"abstract":"In order to fully utilize legged mobile robots in practical applications, a variety of technologies must be significantly advanced including: motion control, leg motion planning, path planning from start to goal, and active foot placement sensing and selection. In an effort to further research in these areas, we have addressed the following issues: hierarchical robot control, map-based path generation that considers the robot's mobility capabilities, development of multi-mode sensing for foot placement planning, and foot placement control that succeeds with minimal apriori terrain information.<<ETX>>","PeriodicalId":133630,"journal":{"name":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","volume":"47 2-4 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1994-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Navigation of a quadruped robot in uneven terrain with multiple foot sensors\",\"authors\":\"T. Oomichi, Y. Fuke, T. Hayashi\",\"doi\":\"10.1109/MFI.1994.398458\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In order to fully utilize legged mobile robots in practical applications, a variety of technologies must be significantly advanced including: motion control, leg motion planning, path planning from start to goal, and active foot placement sensing and selection. In an effort to further research in these areas, we have addressed the following issues: hierarchical robot control, map-based path generation that considers the robot's mobility capabilities, development of multi-mode sensing for foot placement planning, and foot placement control that succeeds with minimal apriori terrain information.<<ETX>>\",\"PeriodicalId\":133630,\"journal\":{\"name\":\"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems\",\"volume\":\"47 2-4 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1994-10-02\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MFI.1994.398458\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MFI.1994.398458","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Navigation of a quadruped robot in uneven terrain with multiple foot sensors
In order to fully utilize legged mobile robots in practical applications, a variety of technologies must be significantly advanced including: motion control, leg motion planning, path planning from start to goal, and active foot placement sensing and selection. In an effort to further research in these areas, we have addressed the following issues: hierarchical robot control, map-based path generation that considers the robot's mobility capabilities, development of multi-mode sensing for foot placement planning, and foot placement control that succeeds with minimal apriori terrain information.<>
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