IEEE - Institute of Electrical and Electronics Engineers, Inc. - Virtual impedance model for obstacle avoidance in a limb mechanism robot

2010 International Conference on Information and Automation (ICIA)

Author(s): Tsukamoto, K. ; Takubo, T. ; Ohara, K. ; Mae, Y. ; Arai, T.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 June 2010
Conference Location: Harbin, China, China
Conference Date: 20 June 2010
Page(s): 729 - 734
ISBN (CD): 978-1-4244-5702-1
ISBN (Electronic): 978-1-4244-5704-5
ISBN (Paper): 978-1-4244-5701-4
DOI: 10.1109/ICINFA.2010.5512471
Regular:

An obstacle avoidance method using a virtual impedance wall is proposed for a multi-legged robot. The swing legs use compliance control to make soft contact and avoid colliding with objects, so... View More

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