S. Kimura — accepted AI-conference papers

2019

Moving onto High Steps for a Four-limbed Robot with Torso Contact

T. Matsuzawa, T. Matsubara, K. Namura, X. Sun, A. Imai, M. Ohkawara +10

IROS 2019poster

In this paper, we describe approaches to enable a four-limbed robot to get over a step higher than its leg with torso contact. The higher the step becomes, the more difficult it is for legged robots to get over from the viewpoint of stability and kinematic reachability. Torso landing contributes to…

Cited by 1 Source ↗Scholar ↗

2017

Planning and control of stable ladder climbing motion for the four-limbed Robot “WAREC-1”

X. Sun, K. Hashimoto, T. Teramachi, T. Matsuzawa, S. Kimura, N. Sakai +3

IROS 2017poster

This paper describes an approach that enables the four-limbed robot “WAREC-1” to climb up and down vertical ladders stably. First, the four-limbed robot “WAREC-1” is introduced and dynamic stability conditions in multi-mass model for ladder climbing are proposed as the basis of judging whether a fou…

Cited by 14 Source ↗Scholar ↗