A Four Legged Walking Robot with Obstacle Overcoming Capabilities

被引：0
|
作者：
Bento Filho, Antonio [1 ]
Amaral, Paulo Faria S. [2 ]
Miglio Pinto, Benedito G. [3 ]
机构：
[1] Univ Fed Espirito Santo, Mech Engn Dept, Av Fernando Ferrari 514, BR-29075910 Vitoria, ES, Brazil
[2] Univ Fed Espirito Santo, Elect Engn Dept, Vitoria, ES, Brazil
[3] Automat Tecnol SA, Vitoria, ES, Brazil
来源：
3RD INTERNATIONAL CONFERENCE ON HUMAN SYSTEM INTERACTION | 2010年
关键词：
obstacle; legged robot; mobile robot; robot; anthropomorphic;
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper deals with the four legged walking robot Guara, built with obstacle overcoming capabilities. It was designed as a research robot platform, to be used in indoor environment, walking straight and curved paths and detecting and overcoming known obstacles. Straight paths are done with gait matrix strategy and curved paths are accomplished by the four legs which have differential strokes in inclined paths relatively to the robot longitudinal axis. Obstacle overcoming is done using only information from contact sensors installed on the robot's feet. Complex movements and tracking sequences are proposed to be built from a small group of simple movements sequenced according to the contact keys switching sequence. Results include: gait generation for straight and curved paths; integrated movement sequence to go one step up in the floor; and a description of the Guara quadruped robot.
引用
收藏
页码：374 / 379
页数：6
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