Laser Detection and Fast Negotiation of Steps with Unknown Position and Height by a Variable-Structure-Type 4-Wheeled Robot
Takeshi Kikkawa*, Osamu Matsumoto** and Kazuo Tani***
*Hokkaido Industrial Reasearch Institute, N19, W11, Kita-ku, Sapporo 060-0819, Japan
**Department of Robotics, Mechanical Engineering Laboratory, MITI, Namiki 1-2, Tsukuba, Ibaraki 305-8564, Japan
***Department of Information Science, Gifu University, Yanagido, Gifu 501-1193, Japan
We are developing a simple variable-structure-type 4-wheeled robot that maneuvers over steps, having enabled it to step dynamically over steps of known height and of unknown height within a known small range. We consider cdntrol enabling it to negotiate steps whose height and position are unknown by detecting step position and height using a laser range sensor. We propose in-process planning of a dynamic trajectory during an experiment, enabling the robot to quickly negotiate steps whose position and height are both unknown.
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