Quasi-static and dynamic mismatch for door opening and stair climbing with a legged robot
| Autor: | Daniel E. Koditschek, T. Turner Topping, Gavin D. Kenneally |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Engineering business.industry Stair climbing 020208 electrical & electronic engineering Human scale Robotics Control engineering 02 engineering and technology 020901 industrial engineering & automation Stairs Door handle 0202 electrical engineering electronic engineering information engineering Climb Doors Artificial intelligence Legged robot business Simulation |
| Zdroj: | ICRA |
| Popis: | This paper contributes to quantifying the notion of robotic fitness by developing a set of necessary conditions that determine whether a small quadruped has the ability to open a class of doors or climb a class of stairs using only quasi-static maneuvers. After verifying that several such machines from the recent robotics literature are mismatched in this sense to the common human scale environment, we present empirical work-arounds for the Minitaur quadrupedal platform that enable it to leap up, force the door handle and push through the door, as well as bound up the stairs, thereby accomplishing through dynamical maneuvers otherwise (i.e., quasi-statically) unachievable tasks. |
| Databáze: | OpenAIRE |
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