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Navigation Strategy for a Quadruped Robot on Soft Flat Ground
Masaaki Ikeda,Kiyotaka Izumi,Keigo Watanabe 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
Tasks important for a mobile robot are the environmental recognition and the obstacle avoidance in the real world. The legged robot can be adapted for rough terrains. It is because the legged robot has a high degree of freedom in order to avoid an obstacle to three dimensions. In this paper, we propose a locomotion strategy on the terrain with stiffness which is different in each. The propriety of a continuation walk is determined by the force sensor mounted to the bottom of each leg of a quadruped robot. The effectiveness of the proposal approach is verified from the result of the experiment which uses the prevalent quadruped robot called TITAN-VIII.