Experimental Validation of a Gait Planning for Obstacle Avoidance Using Mecanum Wheels

Orozco-Magdaleno, E C; Cafolla, D; Castillo-Castañeda, E; Carbone, Giuseppe

doi:10.1007/978-3-030-20131-9_236

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. © 2019, Springer Nature Switzerland AG.

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Titolo:	Experimental Validation of a Gait Planning for Obstacle Avoidance Using Mecanum Wheels
Autori:	Orozco-Magdaleno, E C Cafolla, D Castillo-Castañeda, E CARBONE, Giuseppe (Corresponding) mostra contributor esterni nascondi contributor esterni
Data di pubblicazione:	2019
Serie:	MECHANISMS AND MACHINE SCIENCE
Abstract:	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. © 2019, Springer Nature Switzerland AG.
Handle:	http://hdl.handle.net/20.500.11770/302353
Appare nelle tipologie:	2.1 Contributo in volume (Capitolo o Saggio)

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