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Proceedings Paper

Guide-dog robot Harunobu-5: a locomotion strategy sign-pattern-based stereotyped motion
Author(s): Hideo Mori; Satoshi Yasutomi; N. Mogadam Charkari; Kazuhiro Nishikawa; Kencihi Yamaguchi; Shinj Kotani
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Paper Abstract

A locomotion paradigm called 'sign pattern-based stereotyped motion' is described in this paper. It urges that the motion control patterns of the robot can be limited in to six primitive ones: Moving-Along, Moving-Toward, Moving-for-Sighting, Following-a-Person, Moving- through-Gate, Moving-along-Wall, and a locomotion from the starting point to the goal can be controlled by a sequence of these patterns. This paradigm is implemented in guide dog robot Harunobu-5, and tested in outdoor scene.

Paper Details

Date Published: 4 May 1993
PDF: 15 pages
Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); doi: 10.1117/12.143807
Show Author Affiliations
Hideo Mori, Yamanashi Univ. (Japan)
Satoshi Yasutomi, Yamanashi Univ. (Japan)
N. Mogadam Charkari, Yamanashi Univ. (Japan)
Kazuhiro Nishikawa, Yamanashi Univ. (Japan)
Kencihi Yamaguchi, Yamanashi Univ. (Japan)
Shinj Kotani, Yamanashi Univ. (Japan)


Published in SPIE Proceedings Vol. 1831:
Mobile Robots VII
William J. Wolfe; Wendell H. Chun, Editor(s)

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