제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Unified Strategy for Quadruped Walking Robot in Unstructured Environment

  • Kang, Tae-Hun (School of Mechanical Engineering, Sungkyunkwan University) ;
  • Son, Tae-Young (School of Mechanical Engineering, Sungkyunkwan University) ;
  • Kim, Hyung-Seok (School of Mechanical Engineering, Sungkyunkwan University) ;
  • Choi, Hyouk-Ryeol (School of Mechanical Engineering, Sungkyunkwan University)
  • Published : 2003.10.22
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Abstract

An unstructured environment requires a robot to possess outstanding mobility and advanced control algorithms since there exist complicated configurations such as obstacle, uneven surface, etc. Especially, when a quadruped robot walks in these environments, obstacles in the walking route will obstruct the walking or may give rise to a serious trouble. In this paper, we introduce a strategy for the stable walking in unstructured environment. The proposed strategy consists of two control algorithms. One is a collision{free algorithm to avoid obstacles and the other is an algorithm to overcome any obstacle. These are based on the obstacle detection method and a shape reconstruction algorithm, Which algorithms are described in detail. In addition, the validity of these algorithms have been demonstrated through experiments using a quadruped walking robot called "MRWALLSPECT III(Multifunctional Robot for Wall inSPECTion version 3 )".

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