Development of a Quadruped Walking Robot TITAN XI for Steep Slope Operation – Step Over Gait to Avoid Concrete Frames on Steep Slopes –
Ryuichi Hodoshima*, Takahiro Doi**, Yasushi Fukuda***,
Shigeo Hirose*, Toshihito Okamoto****, and Junichi Mori****
*Mechanical and Aerospace Engineering of Science and Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan
**Life System Science and Technology, Chukyo University, 101 Tokodachi, Kaizu-cho, Toyota-shi, Aichi 470-0393, Japan
***Mechanical System of Engineering, Tamagawa University, 6-1-1 Tamagawagakuen, Machida-shi, Tokyo 194-8610, Japan
****TAISHO KENSETU Corporation, 2695 Kaneda, Chosei-mura, Chosei-gun, Chiba 299-4332, Japan
We detail a step over gait for a quadruped walking robot that maintains a continuous walking with sufficient stability margin for avoiding ferroconcrete reinforcement frames covering steep slopes. For this gait, the robot must adapt itself to terrain and step over these frames. We propose a terrain-adaptive gait based on an intermittent crawl gait using map information. After introducing the gait control algorithm, we show results of graphical simulation to verify the proposed algorithm. Then, these discussions are established by walking experiments using the developed quadruped walking robot named TITAN XI.
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