Jumping motion control planning for 4-wheeled robot with a tail

Noriyasu Iwamoto; Motoji Yamamoto

doi:10.1109/SII.2015.7405114

Jumping motion control planning for 4-wheeled robot with a tail

Noriyasu Iwamoto, Motoji Yamamoto

Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

The planning method of jumping for a 4-wheeled robot with a flexible tail is proposed in this paper. The robot can reach an aerial target position and attitude by using an input which this method plans. Generally, a 4-wheeled robot cannot move in a rough terrain due to the pit. To overcome that problem, we propose a method of jumping for a 4-wheeled robot by using its tail, which is inspired by the concept of tails in animals. In addition, the proposed method widens the area where the robot can work. The proposed planning method is confirmed by simulations and shown that the robot reaches to the target position and attitude.

Original language	English
Title of host publication	2015 IEEE/SICE International Symposium on System Integration, SII 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	871-876
Number of pages	6
ISBN (Electronic)	9781467372428
DOIs	https://doi.org/10.1109/SII.2015.7405114
Publication status	Published - Feb 10 2016
Event	8th Annual IEEE/SICE International Symposium on System Integration, SII 2015 - Nagoya, Japan Duration: Dec 11 2015 → Dec 13 2015

Publication series

Name	2015 IEEE/SICE International Symposium on System Integration, SII 2015

Other

Other	8th Annual IEEE/SICE International Symposium on System Integration, SII 2015
Country	Japan
City	Nagoya
Period	12/11/15 → 12/13/15

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Control and Systems Engineering

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10.1109/SII.2015.7405114

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Iwamoto, N., & Yamamoto, M. (2016). Jumping motion control planning for 4-wheeled robot with a tail. In 2015 IEEE/SICE International Symposium on System Integration, SII 2015 (pp. 871-876). [7405114] (2015 IEEE/SICE International Symposium on System Integration, SII 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2015.7405114

Jumping motion control planning for 4-wheeled robot with a tail. / Iwamoto, Noriyasu; Yamamoto, Motoji.

2015 IEEE/SICE International Symposium on System Integration, SII 2015. Institute of Electrical and Electronics Engineers Inc., 2016. p. 871-876 7405114 (2015 IEEE/SICE International Symposium on System Integration, SII 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Iwamoto, N & Yamamoto, M 2016, Jumping motion control planning for 4-wheeled robot with a tail. in 2015 IEEE/SICE International Symposium on System Integration, SII 2015., 7405114, 2015 IEEE/SICE International Symposium on System Integration, SII 2015, Institute of Electrical and Electronics Engineers Inc., pp. 871-876, 8th Annual IEEE/SICE International Symposium on System Integration, SII 2015, Nagoya, Japan, 12/11/15. https://doi.org/10.1109/SII.2015.7405114

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AB - The planning method of jumping for a 4-wheeled robot with a flexible tail is proposed in this paper. The robot can reach an aerial target position and attitude by using an input which this method plans. Generally, a 4-wheeled robot cannot move in a rough terrain due to the pit. To overcome that problem, we propose a method of jumping for a 4-wheeled robot by using its tail, which is inspired by the concept of tails in animals. In addition, the proposed method widens the area where the robot can work. The proposed planning method is confirmed by simulations and shown that the robot reaches to the target position and attitude.

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Jumping motion control planning for 4-wheeled robot with a tail

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