TY - JOUR
T1 - Experimental Validation of a Gait Planning for Obstacle Avoidance Using Mecanum Wheels
AU - Orozco-Magdaleno, Ernesto Christian
AU - Cafolla, Daniele
AU - Castillo-Castañeda, Eduardo
AU - Carbone, Giuseppe
N1 - Publisher Copyright:
© 2019, Springer Nature Switzerland AG.
PY - 2019
Y1 - 2019
N2 - In the last years the autonomy in service robots became an important feature to develop different kinds of indoor and outdoor service tasks, like sur-veillance or inspection in hospitals. This autonomy is not only related to power consumption, it is also related with the capability to avoid obstacles without crashing. The aim of this paper is to present the experimental validation of a gait planning for obstacle avoidance with Cassino Hexapod III, a wheeled-legged hy-brid hexapod robot, with an omni-wheeled locomotion. Experimental test is car-ried out to demonstrate the motion capability of Cassino Hexapod III to dodge an obstacle in front of it.
AB - In the last years the autonomy in service robots became an important feature to develop different kinds of indoor and outdoor service tasks, like sur-veillance or inspection in hospitals. This autonomy is not only related to power consumption, it is also related with the capability to avoid obstacles without crashing. The aim of this paper is to present the experimental validation of a gait planning for obstacle avoidance with Cassino Hexapod III, a wheeled-legged hy-brid hexapod robot, with an omni-wheeled locomotion. Experimental test is car-ried out to demonstrate the motion capability of Cassino Hexapod III to dodge an obstacle in front of it.
KW - Experimental robotics
KW - Hexapod robot
KW - Obstacle avoidance
KW - Omni-wheeled locomotion
UR - http://www.scopus.com/inward/record.url?scp=85067583457&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-20131-9_236
DO - 10.1007/978-3-030-20131-9_236
M3 - Artículo
AN - SCOPUS:85067583457
SN - 2211-0984
VL - 73
SP - 2391
EP - 2400
JO - Mechanisms and Machine Science
JF - Mechanisms and Machine Science
ER -