Towards running robots for discontinuous terrain

Jawaad Bhatti; Pejman Iravani; Andrew R. Plummer; M. Necip Sahinkaya

doi:10.1007/978-3-642-32527-4_59

Towards running robots for discontinuous terrain

Jawaad Bhatti, Pejman Iravani, Andrew R. Plummer, M. Necip Sahinkaya

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

222 Downloads (Pure)

Abstract

Planar control is an important first step in the development of more complex running robots. This extended abstract describes a technique for control of a one-legged planar robot hopping over discontinuous surfaces. In simulations the robot is tasked with traversing across terrain which provides limited surface for foot placement. The robot has to hop between foot placement surfaces placed at varying distances and heights. The controller has to adjust leg landing angle and leg extension in order to produce the parabolic flight trajectory necessary to land at the next targeted foot placement spot.

Original language	English
Title of host publication	Advances in Autonomous Robotics
Subtitle of host publication	Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, Bristol, UK, August 20-23, 2012
Editors	G. Herrmann, M. Studley, M. Pearson, A. Conn, C. Melhuish, J-H. Kim, P. Vadakkepat
Place of Publication	Berlin, Germany
Publisher	Springer
Pages	461-462
Number of pages	2
DOIs	https://doi.org/10.1007/978-3-642-32527-4_59
Publication status	Published - 1 Jan 2012

Publication series

Name	Lecture Notes in Computer Science
Publisher	Springer
Volume	7429/2012

Access to Document

10.1007/978-3-642-32527-4_59

Author's accepted version
The original publication is available at www.springerlink.com
Accepted author manuscript, 188 KB

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Bhatti, J., Iravani, P., Plummer, A. R., & Sahinkaya, M. N. (2012). Towards running robots for discontinuous terrain. In G. Herrmann, M. Studley, M. Pearson, A. Conn, C. Melhuish, J-H. Kim, & P. Vadakkepat (Eds.), Advances in Autonomous Robotics: Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, Bristol, UK, August 20-23, 2012 (pp. 461-462). (Lecture Notes in Computer Science; Vol. 7429/2012). Springer. https://doi.org/10.1007/978-3-642-32527-4_59

Towards running robots for discontinuous terrain. / Bhatti, Jawaad; Iravani, Pejman ; Plummer, Andrew R.; Sahinkaya, M. Necip.

Advances in Autonomous Robotics: Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, Bristol, UK, August 20-23, 2012. ed. / G. Herrmann; M. Studley; M. Pearson; A. Conn; C. Melhuish; J-H. Kim; P. Vadakkepat. Berlin, Germany : Springer, 2012. p. 461-462 (Lecture Notes in Computer Science; Vol. 7429/2012).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Bhatti, J, Iravani, P , Plummer, AR & Sahinkaya, MN 2012, Towards running robots for discontinuous terrain. in G Herrmann, M Studley, M Pearson, A Conn, C Melhuish, J-H Kim & P Vadakkepat (eds), Advances in Autonomous Robotics: Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, Bristol, UK, August 20-23, 2012. Lecture Notes in Computer Science, vol. 7429/2012, Springer, Berlin, Germany, pp. 461-462. https://doi.org/10.1007/978-3-642-32527-4_59

Bhatti J, Iravani P , Plummer AR, Sahinkaya MN. Towards running robots for discontinuous terrain. In Herrmann G, Studley M, Pearson M, Conn A, Melhuish C, Kim J-H, Vadakkepat P, editors, Advances in Autonomous Robotics: Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, Bristol, UK, August 20-23, 2012. Berlin, Germany: Springer. 2012. p. 461-462. (Lecture Notes in Computer Science). https://doi.org/10.1007/978-3-642-32527-4_59

Bhatti, Jawaad ; Iravani, Pejman ; Plummer, Andrew R. ; Sahinkaya, M. Necip. / Towards running robots for discontinuous terrain. Advances in Autonomous Robotics: Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, Bristol, UK, August 20-23, 2012. editor / G. Herrmann ; M. Studley ; M. Pearson ; A. Conn ; C. Melhuish ; J-H. Kim ; P. Vadakkepat. Berlin, Germany : Springer, 2012. pp. 461-462 (Lecture Notes in Computer Science).

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