〒 560-85311-3, Machikaneyama-cho,Toyonaka, Osaka, Japan
We have developed a new Limb Mechanism Robot named "ASTERISK". ASTERISK has 6 limbs which each has 4DOF. By radially arranging limbs in six directions from the center of the body, ASTERISK achieves both even work space and mobility in every direction.
New dynamic rolling-walk motion for multi-legged robot with Sensory Compensation is proposed. The motion is realized by using the isotropic leg arrangement and the dynamic center of mass control inspired by bipedal robots.
Stair recognition with laser range scanning for continuous stair climbing by limb mechanism "ASTERISK" is proposed. In this research, laser range scanning is divided into rough scan for fast scanning, and precise scan for range scanning.
We proposed the tumbling motion of ASTERISK. Generically, "tumbling" is the effective way to transport a heavy and large object with a little load. In our tumbling motion, we control the force which the robot applies to an object.
The proposed system consists of three systems: RFID sensor network system, Remote robot controlsystem and Integration control system. The sensor network continuously monitors the surrounding of sensor tags while the mobile robot moves around for periodic inspection.
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.