Vertical ladder climbing motion of pace gait with body motion control for a multi-locomotion robot

• Published in: 2009 IEEE/SICE International Symposium on System Integration pp. 48 - 53
• Main Authors: Zhiguo Lu, Aoyama, Tadayoshi, Yoneda, Hironari, Sekiyama, Kosuke, Fukuda, Toshio, Hasegawa, Yasuhisa
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.11.2009
• Subjects: body motion controller; Feedback; Gravity; Humans; Leg; Legged locomotion; MLR; Motion control; Robot sensing systems; Servomotors; Systems engineering and theory; Torso; vertical ladder climbing
• ISBN: 9781424459087; 1424459087
• DOI: 10.1109/SI.2009.5384556

This paper introduces the effectiveness of the body motion for the pace gait of vertical ladder climbing. The pace gait is a symmetrical motion of left side and right side to climb the ladder. As a previous work, we realized the vertical ladder climbing motion; however, it is not stable since the external disturbance is not considered. We add a body motion as an improvement. The external disturbance can be reflected in the feedback of gyro sensor which is attached at the robot torso. By controlling the body motion according to the feedback, the robot can climb the ladder more stably. The climbing motion with body motion control is experimentally verified with a multi-locomotion robot (MLR) which is developed to go through various environments such as biped walking on a flat terrain, quadruped walking on a rough terrain, brachation on a ladder and so on.