Obstacle Avoidance Using Collision Detection for ASTERISK

An obstacle avoidance method using collision detection is proposed for multi-legged robot. The proposed method employs virtual impedance control so that the swing leg can avoid an obstacle while maintaining its legs' work space. When the leg goes over the preferred operating region, the body avoids an obstacle by the repulsive force from the virtual impedance wall. During an experiment with wall on both sides of the robot, the robot realized the movement along a wall on one-side without changing a commanded direction of a joy-stick. As a result of this experiment, the robot could walk through those walls by only changing its legs' posture on both sides.