Quadruped Robot Navigation Considering the Observational Cost

Authors:
Takeshi Fukase;Masahiro Yokoi;Yuichi Kobayashi;Ryuichi Ueda;Hideo Yuasa;Tamio Arai
Affiliations:
-;-;-;-;-;-
Venue:
RoboCup 2001: Robot Soccer World Cup V
Year:
2002

Citing 1
Cited 3

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Abstract

In this paper, we present a new method to decide the optimal robot's motion with a quadruped robot of Sony Legged Robots League. The method keeps the "observational cost" as small as possible. The task we cope with is navigation. The robot can reach the destination rapidly and robustly with this method in spite of under the unfavorable conditions such as restricted sensor ability, limited CPU power, and inaccurate locomotion. Finally the efficiency of our method is verified by experiments.