LOCOMOTION
A study on traversability of quadruped robot in rough terrain
Vo-Gia Loc, Ig Mo Koo, Tran Duc Trong, Ho Moon Kim, Hyungpil Moon, Sangdoek Park, Hyouk Ryeol Choi
- Year
- 2010
- Citations
- 5
Abstract
In this work, a study on improving traversability of a quadruped robot in a 3D rough terrain is presented. The interaction between the robot and the terrain is analyzed. The analysis shows that the traversability of the robot can be significantly improved by carefully considering the position and orientation of the robot's body in each step. The effectiveness of the proposed algorithm is verified in both simulation and experiment.
Keywords
TerrainRobotComputer scienceArtificial intelligenceComputer visionOrientation (vector space)Mobile robotPosition (finance)SimulationRobot kinematics
Related papers
OTHER
📊 26,957 cites
Statistical Learning Theory
Yuhai Wu, Vladimir Vapnik
1999
PERCEPTION
📊 22,245 cites
Artificial intelligence: a modern approach
1995
OTHER
📊 18,993 cites
Applied Nonlinear Control
Jean-Jacques Slotine, Weiping Li
1991
SWARM
📊 14,853 cites
A new optimizer using particle swarm theory
R.C. Eberhart, James Kennedy
2002