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JRM Vol.24 No.1 pp. 55-63
doi: 10.20965/jrm.2012.p0055
(2012)

Paper:

AutonomousWalking over Obstacles by Means of LRF for Hexapod Robot COMET-IV

Mohd Razali Daud* and Kenzo Nonami**

*Department of Artificial System Science, Graduate School of Engineering, Chiba University, 1-33 Yayoicho, Inageku, Chiba 263-8522, Japan

**Department of Mechanical Engineering, Chiba University, 1-33 Yayoicho, Inageku, Chiba 263-8522, Japan

Received:
January 19, 2011
Accepted:
July 7, 2011
Published:
February 20, 2012
Keywords:
grid-based walking trajectory, omnidirectional gait, obstacle avoidance
Abstract

This paper presents an autonomous navigation system for a hydraulically driven hexapod robot (COMETIV) based on point cloud data acquired using a rotating Laser Range Finder (LRF). The size of the robot would prohibit its movement in a stochastic terrain environment if we only consider letting it avoid obstacles. However, the robot has a unique ability to walk over obstacles. We thus proposed the so-called Grid-based Walking Trajectory for Legged Robot (GWTLR) method. The method is developed on the basis of the geometric representation of a stochastic terrain in terms of grid cell characteristics. We also introduced the “Grid-cell model for COMET-IV” to assess the characteristics of the grid cells and to determine whether each of the cells is traversable or not. Finally, the shortest safe walking trajectory is generated using a search algorithm, A*. The performance of the proposed method is verified by the experimental results of the successful determination of a walking trajectory path and by completely walking over obstacles in various arrangements.

Cite this article as:
M. Daud and K. Nonami, “AutonomousWalking over Obstacles by Means of LRF for Hexapod Robot COMET-IV,” J. Robot. Mechatron., Vol.24, No.1, pp. 55-63, 2012.
Data files:
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Last updated on Jun. 20, 2019