Guide-dog robot Harunobu-5: a locomotion strategy sign-pattern-based stereotyped motion

Hideo Mori; Satoshi Yasutomi; N. Mogadam Charkari; Kazuhiro Nishikawa; Kencihi Yamaguchi; Shinj Kotani

doi:10.1117/12.143807

4 May 1993 Guide-dog robot Harunobu-5: a locomotion strategy sign-pattern-based stereotyped motion

Hideo Mori, Satoshi Yasutomi, N. Mogadam Charkari, Kazuhiro Nishikawa, Kencihi Yamaguchi, Shinj Kotani

Proceedings Volume 1831, Mobile Robots VII; (1993) https://doi.org/10.1117/12.143807
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

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.

Citation Download Citation

Hideo Mori, Satoshi Yasutomi, N. Mogadam Charkari, Kazuhiro Nishikawa, Kencihi Yamaguchi, and Shinj Kotani "Guide-dog robot Harunobu-5: a locomotion strategy sign-pattern-based stereotyped motion", Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); https://doi.org/10.1117/12.143807

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