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IJRR
2011
174views more  IJRR 2011»
9 years 5 months ago
Bounding on rough terrain with the LittleDog robot
— In this paper we develop an RRT-based motion planner that achieved bounding in simulation with the LittleDog robot over extremely rough terrain. LittleDog is a quadruped robot ...
Alexander C. Shkolnik, Michael Levashov, Ian R. Ma...
IJRR
2007
181views more  IJRR 2007»
9 years 10 months ago
Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots
An algorithm is presented for wheeled mobile robot trajectory generation that achieves a high degree of generality and efficiency. The generality derives from numerical lineariza...
Thomas M. Howard, Alonzo Kelly
ICRA
2002
IEEE
109views Robotics» more  ICRA 2002»
10 years 3 months ago
On-Line Terrain Parameter Estimation for Planetary Rovers
Future planetary exploration missions will require rovers to traverse very rough terrain with limited human supervision. Wheel-terrain interaction plays a critical role in rough-t...
Karl Iagnemma, Hassan Shibly, Steven Dubowsky
ISER
2004
Springer
149views Robotics» more  ISER 2004»
10 years 4 months ago
Crawling and Jumping by a Deformable Robot
We describe crawling and jumping by a deformable robot. Locomotion over rough terrain has been achieved mainly by rigid body systems including crawlers and leg mechanisms. This pap...
Yuuta Sugiyama, Shinichi Hirai
ICRA
2005
IEEE
163views Robotics» more  ICRA 2005»
10 years 4 months ago
Circular/Spherical Robots for Crawling and Jumping
Abstract— We describe circular/spherical robots for crawling and jumping. Locomotion over rough terrain has been achieved mainly by rigid body systems including crawlers and leg ...
Yuuta Sugiyama, Ayumi Shiotsu, Masashi Yamanaka, S...
ROBOCUP
2007
Springer
135views Robotics» more  ROBOCUP 2007»
10 years 4 months ago
Compliance Control for Biped Walking on Rough Terrain
In this paper, we propose a control system that changes the compliance based on the walking speed to stabilize biped walking on rough terrain. The proposed system does not use the ...
Masaki Ogino, Hiroyuki Toyama, Sawa Fuke, Norbert ...
IROS
2007
IEEE
188views Robotics» more  IROS 2007»
10 years 5 months ago
Behavior maps for online planning of obstacle negotiation and climbing on rough terrain
Abstract— To autonomously navigate on rough terrain is a challenging problem for mobile robots, requiring the ability to decide whether parts of the environment can be traversed ...
Christian Dornhege, Alexander Kleiner
IROS
2007
IEEE
151views Robotics» more  IROS 2007»
10 years 5 months ago
Stabilizing biped walking on rough terrain based on the compliance control
— In this paper, we propose a control system that changes the compliance based on the walking speed to stabilize biped walking on rough terrain. The proposed system does not use ...
Masaki Ogino, Hiroyuki Toyama, Minoru Asada
IROS
2007
IEEE
148views Robotics» more  IROS 2007»
10 years 5 months ago
Kinematic analysis and control of an omnidirectional mobile robot in rough terrain
—An omnidirectional mobile robot is able, kinematically, to move in any direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional robots h...
Martin Udengaard, Karl Iagnemma
ICRA
2007
IEEE
199views Robotics» more  ICRA 2007»
10 years 5 months ago
A Controller for the LittleDog Quadruped Walking on Rough Terrain
— We present a controller for a quadrupedal robot statically walking on known rough terrain. The controller has both deliberative and reactive components for task specific contr...
John R. Rebula, Peter Neuhaus, Brian V. Bonnlander...
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