Steep slope climbing using feet or shins for six-legged robots
Steep slope climbing using feet or shins for six-legged robots
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DOI：
10.1109/ascc.2015.7244563
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发表时间：
2015-05
期刊：
影响因子：
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通讯作者：
Kenji Inoue;Masashi Kaminogo
中科院分区：
文献类型：
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作者：
Kenji Inoue;Masashi Kaminogo
提出了六足机器人攀爬陡坡的两种方法。在第一种方法中，机器人的脚着地。四条腿并排地落在斜坡的较低一侧。两条腿在上侧并排着地。外一对小腿和一条腿一起运动，内一对小腿和另一条腿也一起运动。机器人以三脚架步态在斜坡上向四面八方行走。由于两条小腿始终处于机器人的重心以下，因此这种方法可以稳定地支撑机器人。第二种方法是利用机器人的小腿来增加与地面的接触面积。两条小腿和两条腿的小腿着地在斜坡上。这些腿推动身体向上。剩下的两条腿着地，在身体下面留出空间，让前面提到的四条腿向前走。由于摩擦力较大，第二种方法可以使机器人比第一种方法爬更陡的斜坡。用人造草、防滑垫和桌面木三种斜坡测试了这些方法的爬坡能力。
Two methods for a six-legged robot of climbing steep slope are proposed. In the first method the robot lands its feet. Four legs land abreast on the lower side of the slope. Two legs land abreast on the upper side. The outer pair of the lower legs and one upper leg move together, and the inner pair of the lower legs and the other upper leg also move together. The robot walks on the slope in all directions like tripod gait. Because two of the lower legs are always placed below the robot's center of gravity, this method can support the robot stably. The second method uses the robot's shins to increase ground contact area. Two lower legs and two upper legs land their shins on the slope. These legs push the body upward. The remaining two legs land their feet and make a space under the body for the above-mentioned four legs to step forward. Owing to larger friction force, the second method allows the robot to climb steeper slope than the first method. The slope climbing ability of these methods is tested using three kinds of slope: artificial grass, nonslip mat and desktop wood.