Obstacle Avoidance Using Virtual Impedance Wall for Limb Mechanism Robot

摘要：

An obstacle avoidance method using virtual impedance wall is proposed for multi-legged robot. The swing leg employs compliance control to avoid the collided object and the robot keeps the moving direction as much as possible while swing legs keep a preferred operating region. The preferred operating region is surrounded with virtual impedance wall. When the leg comes to go over the threshold of preferred operating region, the moving direction is modified by the virtual repulsive force from the virtual impedance wall to avoid the workspace limitation. Moreover, the pattern recognition technique with the support vector machine is implemented for estimating the contact point between the object and the body by using the data set of the error of each leg. The virtual impedance field is set at the estimated contact position to direct the aspect of avoidance.

关键词： Multi-Legged Robot Obstacle Avoidance Virtual Impedance Wall Support Vector Machine

作者: Kenji Tsukamoto Tomohito Takubo Kenichi Ohara Yasushi Mae Tatsuo Arai

作者单位: Department of System Innovations,Graduate School of Engineering Science Osaka University 1-3 Machikaneyama,Toyonaka,Osaka,560-0043,Japan

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 604-609

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）