1A1-E10 Climbing up onto Steps for Limb Mechanism Robot "ASTERISK"

A method for limb mechanism robot “ASTERISK” of climbing up onto steps which are higher than its body is proposed. Basically the robot climbs by wave gait; depending on the step height, the robot dynamically changes its leg stepping sequence. It inclines its body so that its legs can reach up onto the step. When the robot lifts its legs up, it calculates the stability margin by measuring the body orientation with its acceleration sensor. The robot also detects the contact between the feet and step using joint compliance. As the result of experiment, the robot could climb up onto a 230[mm] high step.

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