Adaptation to rough terrain by using COF estimation on a quadruped vehicle

Shogo Okamoto, Kaoru Konishi, Kenichi Tokuda, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

1 Citation (Scopus)


Foot groping is one way to evaluate the stability of footholds for legged locomotives on rough terrain. For further acquisition of ground information, we installed active ankles with two active joints on the experimental quadruped vehicle, RoQ2. To compensate the loss of passive adaptation of ankles to terrain, active adaptation using COF estimation is implemented. COF is a center of pressure on a sole and estimated by sole sensor, which consists of four FSRs. Sole sensors for COF can determine the sole plane when adapting to rough terrain. This paper also shows that our new proposition can detect an edge of a beam or a step on the ground without thrusting a foot to the objects.

Original languageEnglish
Title of host publicationRobotics
Subtitle of host publicationResults of the 5th International Conference
EditorsPeter Corke, Sukkariah
Number of pages12
Publication statusPublished - 2006

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


  • Adaptation
  • COF
  • Quadruped vehicle
  • RoQ
  • Rough terrain


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