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Published in:
2006 | OriginalPaper | Chapter
Adaptation to Rough Terrain by Using COF Estimation on a Quadruped Vehicle
Authors : Shogo Okamoto, Kaoru Konishi, Kenichi Tokuda, Satoshi Tadokoro
Published in: Field and Service Robotics
Publisher: Springer Berlin Heidelberg
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Foot groping is one way to evaluate the stability of footholds for legged locomotives on rough terrain. For further acquisition of ground information, we installed active ankles with two active joints on the experimental quadruped vehicle, RoQ2. To compensate the loss of passive adaptation of ankles to terrain, active adaptation using COF estimation is implemented. COF is a center of pressure on a sole and estimated by sole sensor, which consists of four FSRs. Sole sensors for COF can determine the sole plane when adapting to rough terrain. This paper also shows that our new proposition can detect an edge of a beam or a step on the ground without thrusting a foot to the objects.