Deformation compensation for continuous force control of a wall climbing quadruped with reduced-DOF

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 468-474

  Ota, Yusuke ^a   Kuga, Toru ^a   Yoneda, Kan ^a  

^a TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

Compensated motion; Deformation of structure; Quadruped walking robot; Wall climbing

Indexed keywords

ADHESION; DEGREES OF FREEDOM (MECHANICS); FORCE CONTROL; LIGHT WEIGHT STRUCTURES; MOTION ESTIMATION;

COMPENSATED MOTION; DEFORMATION OF STRUCTURE; QUADRUPED WALKING ROBOT; WALL CLIMBING;

MOBILE ROBOTS;

EID: 33845640133     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1641755     Document Type: Conference Paper

References (6)

1. Shigeo HIROSE and Kazuyoshi KAWABE; "Ceiling Walk of Quadruped Wall Climbing Robot NINJA-II", Proc. of 1st International Conference on Climbing and Walking Robots (CLAWAR), pp.143-147 (1998)
2. A. Nishi; "Bipedal Walking Robot Capable Of Moving On S Vertical Wall For Inspection Use", Proc. of the 5th Int. symp. on Robotics in Construction, pp.581-588 (1988)
3. J. Savall, A. Avello and L.Brioness; "Two Compact Robots for Remote Inspection of Hazardous Areas in Nuclear Power Plant", Proc. of Int. Conf. On Robotics and Automation, pp.1993-1998 (1999)
4. Kan YONEDA, Yusuke OTA, Fumitoshi ITO and Shigeo HIROSE; "Construction of a Quadruped with Reduced Degrees of Freedom", Proc. of IEEE International Conference on Industrial Electronics, Control and Instrumentation (IECON-2000), pp.28-33 (2000)
5. Kan YONEDA, Yusuke OTA, Fumitoshi ITO and Shigeo HIROSE; "Quadruped Walking Robot with Reduced Degrees of Freedom", Journal of Robotics and Mechatronics, Vol.13, No.2, pp.190-197 (2001)
6. K. YONEDA, Y. OTA, K. HIRANO and S. HIROSE, "Design of a Light Weight Wall Climbing Quadruped with Reduced Degrees of Freedom", Proc. of 4th International Conference on Climbing and Walking Robots (CLAWAR 2001), pp.907-912 (2001)