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

Noriyasu Iwamoto, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 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 languageEnglish
Title of host publication2015 IEEE/SICE International Symposium on System Integration, SII 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages871-876
Number of pages6
ISBN (Electronic)9781467372428
DOIs
Publication statusPublished - Feb 10 2016
Event8th Annual IEEE/SICE International Symposium on System Integration, SII 2015 - Nagoya, Japan
Duration: Dec 11 2015Dec 13 2015

Publication series

Name2015 IEEE/SICE International Symposium on System Integration, SII 2015

Other

Other8th Annual IEEE/SICE International Symposium on System Integration, SII 2015
CountryJapan
CityNagoya
Period12/11/1512/13/15

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering

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  • Cite this

    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