TY - GEN
T1 - Proposal of walking method to avoid falling down using vibration on loose ground with slope
AU - Watanabe, Tomohiro
AU - Iizuka, Kojiro
N1 - Funding Information:
This work was supported by JKA and its promotion founds from KEIRIN RACE.
Publisher Copyright:
© CLAWAR Association Ltd.
PY - 2020
Y1 - 2020
N2 - In this paper, walking method using vibration for leg typed rover is proposed to avoid falling down. Proposed method increases the tumble stability margin using vibration to improve stability during slope walking. In previous study, we confirmed that sinkage of the leg to the ground is increased when giving vibration. In the proposed method, posture of the leg typed rover is maintained to be stability using this feature. Experiments using a testbed was carried out. Moreover, we could get knowledge that the method using vibration was effective to avoid falling down the rover.
AB - In this paper, walking method using vibration for leg typed rover is proposed to avoid falling down. Proposed method increases the tumble stability margin using vibration to improve stability during slope walking. In previous study, we confirmed that sinkage of the leg to the ground is increased when giving vibration. In the proposed method, posture of the leg typed rover is maintained to be stability using this feature. Experiments using a testbed was carried out. Moreover, we could get knowledge that the method using vibration was effective to avoid falling down the rover.
UR - http://www.scopus.com/inward/record.url?scp=85091268908&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85091268908&partnerID=8YFLogxK
U2 - 10.13180/clawar.2020.24-26.08.17
DO - 10.13180/clawar.2020.24-26.08.17
M3 - Conference contribution
AN - SCOPUS:85091268908
SN - 9781916449046
T3 - Robots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020
SP - 239
EP - 246
BT - Robots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020
A2 - Gradetsky, Valery G.
A2 - Bolotnik, Nikolay N.
A2 - Tokhi, Mohammad Osman
A2 - Silva, Manuel
A2 - Virk, Gurvinder S.
PB - CLAWAR Association Ltd
T2 - 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020
Y2 - 24 August 2020 through 26 August 2020
ER -