Masao Kanazawa — accepted AI-conference papers

2015

Dynamic gait transition between bipedal and quadrupedal locomotion

Takumi Kamioka, Tomoki Watabe, Masao Kanazawa, Hiroyuki Kaneko, Takahide Yoshiike

IROS 2015poster

Applying humanoid robots in disaster sites requires strong locomotion abilities due to the cluttered and unstructured environment. Besides bipedal walking, it is beneficial to provide functionality to locomote on four limbs, and to control the transitions between bipedal and quadrupedal locomotion.…

Cited by 34 Source ↗Scholar ↗

2015

Robust vertical ladder climbing and transitioning between ladder and catwalk for humanoid robots

Masao Kanazawa, Shunichi Nozawa, Yohei Kakiuchi, Yoshiki Kanemoto, Mitsuhide Kuroda, Kei Okada +2

IROS 2015poster

This paper presents a novel control method to stabilize the whole-body motion of humanoid robots when climbing vertical ladders and transitioning between ladders and catwalks. In such environments, the body of the robot tends to incline and rotate because of the slippery surfaces. The inclination an…

Cited by 45 Source ↗Scholar ↗