A semi-autonomous compound motion pattern using multi-flipper and multi-arm for unstructured terrain traversal
Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu
Abstract
Disaster response crawler robot OCTOPUS has four arms and four flippers for better adaptability to disaster environments. To further improve the robot mobility and terrain adaptability in unstructured terrain, we propose a new locomotion control method called compound motion pattern (CMP) for multi-limb robots like OCTOPUS. This hybrid locomotion by cooperating the arms and flippers would be effective to adapt to the unstructured terrain due to combining the advantages of crawling and walking. As a preliminary study on CMP, we proposed a fundamental and conceptual CMP while clarifying problems in constructing CMP, and developed a semi-autonomous control system for realizing the CMP. Electrically-driven OCTOPUS was used to verify the reliability and correctness of CMP. Results of experiments on climbing a step indicate that the proposed control system could obtain relatively accurate terrain information and the CMP enabled the robot to climb the step. We thus confirmed that the proposed CMP would be effective to increase terrain adaptability of robot in unstructured environment, and it would be a useful locomotion method for advanced disaster response robots.
BibTeX
@inproceedings{iros2017_asemiautonomousc,
title = {A semi-autonomous compound motion pattern using multi-flipper and multi-arm for unstructured terrain traversal},
author = {Kui Chen and Mitsuhiro Kamezaki and Takahiro Katano and Taisei Kaneko and Kohga Azuma and Tatsuzo Ishida and Masatoshi Seki and Ken Ichiryu and Shigeki Sugano},
booktitle = {IROS 2017},
year = {2017}
}