Robust and directive quadruped locomotion on rough terrain without requiring sensing and actuation

2016 ◽  
Author(s):  
Takashi Takuma ◽  
Wataru Kase
Keyword(s):  
Rough Terrain ◽  
Quadruped Locomotion

Design of Vertebrae-Inspired Trunk Mechanism for Robust and Directive Quadruped Locomotion on Rough Terrain Without Requiring Sensing and Actuation

2017 ◽  
Vol 29 (3) ◽  
pp. 546-555 ◽  
Author(s):  
Takashi Takuma ◽  
◽  
Yoshiki Murata ◽  
Wataru Kase
Keyword(s):  
Rigid Body ◽  
Success Rate ◽  
Design Principle ◽  
Quadruped Robot ◽  
Rough Terrain ◽  
Elastic Coefficient ◽  
Sensors And Actuators ◽  
Quadruped Locomotion ◽  
Trunk Posture ◽  
Simulation Results

[abstFig src='/00290003/10.jpg' width='300' text='Quadruped robot equipping a vertebrae-inspired trunk mechanism' ] Quadrupedal animals adaptively change their trunk posture in order to avoid falling down and to facilitate directive locomotion even on rough terrain. This paper focuses on an animal-like trunk mechanism which has passive viscoelastic joints. The effect of the trunk mechanism is observed by changing the elasticity and configuration of joints. Simulation results showed that the locomotion success rate of a robot equipped with the trunk mechanism on rough terrain is higher than the locomotion success rate of a robot equipped with a rigid body. In addition, the distribution of the success rate changes according to the elastic coefficient, number, configuration, and type of joints. These results suggest a design principle for the trunk mechanism of a quadruped robot in order to obtain robust and directive locomotion without requiring sensors and actuators.

Effect of animal-like trunk mechanism for quadruped locomotion on rough terrain

2016 ◽  
Vol 2016 (0) ◽  
pp. 2P2-12b4
Author(s):  
Takashi TAKUMA ◽  
Takato FUKUI ◽  
Tomoki SESOKO ◽  
Masaki SUGIYAMA ◽  
Wataru KASE
Keyword(s):  
Rough Terrain ◽  
Quadruped Locomotion

scholarly journals Compliant quadruped locomotion over rough terrain

2009 ◽  
Author(s):  
Jonas Buchli ◽  
Mrinal Kalakrishnan ◽  
Michael Mistry ◽  
Peter Pastor ◽  
Stefan Schaal
Keyword(s):  
Rough Terrain ◽  
Quadruped Locomotion

3-D Scan Matching for Mobile Robot Localization over Rough Terrain

2019 ◽  
Vol 139 (9) ◽  
pp. 1041-1050
Author(s):  
Hiroyuki Nakagomi ◽  
Yoshihiro Fuse ◽  
Hidehiko Hosaka ◽  
Hironaga Miyamoto ◽  
Takashi Nakamura ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Rough Terrain ◽  
Robot Localization ◽  
Scan Matching ◽  
Mobile Robot Localization
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