Grid wall walking by Limb Mechanism Robot ASTERISK

We set a goal for this research to improve the vertical mobility of our limb mechanism robot "ASTERISK" by proposing the "grid wall walking gait" which is a movement on a grid structure.

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Locomotoin method using swing motion for ASTERISK

The goal of this research is to enhance the mobility of "ASTERISK". A new locomotion method by using swing motion with wire holding leg is proposed. The motion planning employs simple 2-links model and the 2-nd joint is controlled by using cycloid trajectory.

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Hybrid Locomotion of Leg-Wheel ASTERISK

Leg-wheel hybrid locomotion on rough terrain we propose for a hexapod robot is realized by continuous transition between wheeled and legged locomotion based on sensor feedback. In basic positioning on a flat surface, the robot is supported by three legs andmoves using its wheels.

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Research of high resolution NDT Grid Map

The goal of this research is to make a map which enables a small robot like ASTERISK to recognize a narrow environment. Then, we made a high-resolution grid map which can describe details of the environment and keep a data amount.

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Running motion generation for Limb Mechanism Robot ASTERISK

In this research, our goal is to expand ASTERISK's movable area. ASTERISK is small, so it can go through a narrow space where a human cannot enter. Now, we research about the dynamic motion such as jump and run.

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