2A1-E27 Analysis of the leg trajectry for Rough Terrain Mobile Robot, RT-Mover

摘要

"RT-Mover" can move on continuous rough terrain by using the moving control technique which was proposed in previous paper. There is, however, more rough terrain in a real environment, so, RT-Mover can not move there by using this technique. In this paper, as the first step, we propose the step-up gait for an upward step and analyze a leg trajectory.