ICRA 2011 Paper Abstract


Paper TuP102.2

Chen, Shen-Chiang (National Taiwan University), Huang, ke jung (National Taiwan University), Li, Cheng Hsin (National Taiwan University), Lin, Pei-Chun (National Taiwan University)

Trajectory Planning for Stair Climbing in the Leg-Wheel Hybrid Mobile Robot Quattroped

Scheduled for presentation during the Regular Sessions "Multi-legged Robots" (TuP102), Tuesday, May 10, 2011, 13:55−14:10, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Multi-legged Robots, Motion and Path Planning, Field Robots


The algorithm of trajectory planning and four leg coordination for quasi-static stair climbing in a quadruped robot is reported. The development is based on the geometrical interactions between the robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and then four-leg coordination. A brief study on stability of the robot is included. In addition, the first-step and last-step algorithm which deals with the transient between the flat ground and the stair is reported as well. Finally, simulation and experimental validation are performed to evaluate the performance of the algorithm.



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