Path Planning for a Quadruped Robot in 3D Complex Environment: Slip Detection and Revision of Trajectory Using Mouse Pointers

摘要

A walking robot is able to not only move on irregular terrain but also pass under upper obstacles with crouching. Therefore, walking robot is valuable for three-imensional path planning because of expecting to avoid more effectively than wheeled robots. However, less controllability and slips during walking prevent the robot from realizing the path planning. Particularly, this paper forcuses on slips during walking. In order to detect the slips, we equip foot soles of the robot with optical mice.