Adaptation to Rough Terrain by Using COF Estimation on a Quadruped Vehicle View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2006

AUTHORS

Shogo Okamoto , Kaoru Konishi , Kenichi Tokuda , Satoshi Tadokoro

ABSTRACT

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. More... »

PAGES

505-516

Book

TITLE

Field and Service Robotics

ISBN

978-3-540-33452-1

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-3-540-33453-8_42

DOI

http://dx.doi.org/10.1007/978-3-540-33453-8_42

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1019661262


Indexing Status Check whether this publication has been indexed by Scopus and Web Of Science using the SN Indexing Status Tool
Incoming Citations Browse incoming citations for this publication using opencitations.net

JSON-LD is the canonical representation for SciGraph data.

TIP: You can open this SciGraph record using an external JSON-LD service: JSON-LD Playground Google SDTT

[
  {
    "@context": "https://springernature.github.io/scigraph/jsonld/sgcontext.json", 
    "about": [
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/0906", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Electrical and Electronic Engineering", 
        "type": "DefinedTerm"
      }, 
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/09", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Engineering", 
        "type": "DefinedTerm"
      }
    ], 
    "author": [
      {
        "affiliation": {
          "alternateName": "Tohoku University", 
          "id": "https://www.grid.ac/institutes/grid.69566.3a", 
          "name": [
            "Graduate School of Information Sciences, Tohoku Univ. 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai, Japan"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Okamoto", 
        "givenName": "Shogo", 
        "id": "sg:person.0740553076.39", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.0740553076.39"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Kobe University", 
          "id": "https://www.grid.ac/institutes/grid.31432.37", 
          "name": [
            "Graduate school of Science and Technology, Kobe Univ. 1-1 Rokkodai, Nada, Kobe\u00a0657-8501, Japan"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Konishi", 
        "givenName": "Kaoru", 
        "id": "sg:person.014567712523.03", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014567712523.03"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Wakayama University", 
          "id": "https://www.grid.ac/institutes/grid.413170.0", 
          "name": [
            "Dept. Opto-Mechatoronics, Wakayama Univ., 930 Sakaedani, Wakayama-city\u00a0640-8510, Japan"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Tokuda", 
        "givenName": "Kenichi", 
        "id": "sg:person.012047107743.70", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012047107743.70"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Tohoku University", 
          "id": "https://www.grid.ac/institutes/grid.69566.3a", 
          "name": [
            "Graduate School of Information Sciences, Tohoku Univ. 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai, Japan"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Tadokoro", 
        "givenName": "Satoshi", 
        "id": "sg:person.013454033251.77", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013454033251.77"
        ], 
        "type": "Person"
      }
    ], 
    "datePublished": "2006", 
    "datePublishedReg": "2006-01-01", 
    "description": "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.", 
    "editor": [
      {
        "familyName": "Corke", 
        "givenName": "Peter", 
        "type": "Person"
      }, 
      {
        "familyName": "Sukkariah", 
        "givenName": "Salah", 
        "type": "Person"
      }
    ], 
    "genre": "chapter", 
    "id": "sg:pub.10.1007/978-3-540-33453-8_42", 
    "inLanguage": [
      "en"
    ], 
    "isAccessibleForFree": false, 
    "isPartOf": {
      "isbn": [
        "978-3-540-33452-1"
      ], 
      "name": "Field and Service Robotics", 
      "type": "Book"
    }, 
    "name": "Adaptation to Rough Terrain by Using COF Estimation on a Quadruped Vehicle", 
    "pagination": "505-516", 
    "productId": [
      {
        "name": "doi", 
        "type": "PropertyValue", 
        "value": [
          "10.1007/978-3-540-33453-8_42"
        ]
      }, 
      {
        "name": "readcube_id", 
        "type": "PropertyValue", 
        "value": [
          "5dad58f13dc2b05debd7769792bf496b601975c99864562cf4acd5bd4c3f532d"
        ]
      }, 
      {
        "name": "dimensions_id", 
        "type": "PropertyValue", 
        "value": [
          "pub.1019661262"
        ]
      }
    ], 
    "publisher": {
      "name": "Springer Berlin Heidelberg", 
      "type": "Organisation"
    }, 
    "sameAs": [
      "https://doi.org/10.1007/978-3-540-33453-8_42", 
      "https://app.dimensions.ai/details/publication/pub.1019661262"
    ], 
    "sdDataset": "chapters", 
    "sdDatePublished": "2019-04-15T18:55", 
    "sdLicense": "https://scigraph.springernature.com/explorer/license/", 
    "sdPublisher": {
      "name": "Springer Nature - SN SciGraph project", 
      "type": "Organization"
    }, 
    "sdSource": "s3://com-uberresearch-data-dimensions-target-20181106-alternative/cleanup/v134/2549eaecd7973599484d7c17b260dba0a4ecb94b/merge/v9/a6c9fde33151104705d4d7ff012ea9563521a3ce/jats-lookup/v90/0000000001_0000000264/records_8684_00000033.jsonl", 
    "type": "Chapter", 
    "url": "http://link.springer.com/10.1007/978-3-540-33453-8_42"
  }
]
 

Download the RDF metadata as:  json-ld nt turtle xml License info

HOW TO GET THIS DATA PROGRAMMATICALLY:

JSON-LD is a popular format for linked data which is fully compatible with JSON.

curl -H 'Accept: application/ld+json' 'https://scigraph.springernature.com/pub.10.1007/978-3-540-33453-8_42'

N-Triples is a line-based linked data format ideal for batch operations.

curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1007/978-3-540-33453-8_42'

Turtle is a human-readable linked data format.

curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1007/978-3-540-33453-8_42'

RDF/XML is a standard XML format for linked data.

curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1007/978-3-540-33453-8_42'


 

This table displays all metadata directly associated to this object as RDF triples.

95 TRIPLES      22 PREDICATES      27 URIs      20 LITERALS      8 BLANK NODES

Subject Predicate Object
1 sg:pub.10.1007/978-3-540-33453-8_42 schema:about anzsrc-for:09
2 anzsrc-for:0906
3 schema:author N5af9b527c78c45a79c8865043f0b224f
4 schema:datePublished 2006
5 schema:datePublishedReg 2006-01-01
6 schema:description 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.
7 schema:editor N69efe353e128490aa06a8dbc86443ed3
8 schema:genre chapter
9 schema:inLanguage en
10 schema:isAccessibleForFree false
11 schema:isPartOf N58992860580b43d0a895c4b5aa3be9d2
12 schema:name Adaptation to Rough Terrain by Using COF Estimation on a Quadruped Vehicle
13 schema:pagination 505-516
14 schema:productId N409d602eb53742cc980294b679d31d8a
15 N772fca0ff7694cf99de9915988a1d84b
16 Nb0dc65dd32744459a698d50664eea275
17 schema:publisher N11ba6f6f4e1f4e30bf274aeb6d9ad25b
18 schema:sameAs https://app.dimensions.ai/details/publication/pub.1019661262
19 https://doi.org/10.1007/978-3-540-33453-8_42
20 schema:sdDatePublished 2019-04-15T18:55
21 schema:sdLicense https://scigraph.springernature.com/explorer/license/
22 schema:sdPublisher N140dd824b7e847f3a7d57e74565bde26
23 schema:url http://link.springer.com/10.1007/978-3-540-33453-8_42
24 sgo:license sg:explorer/license/
25 sgo:sdDataset chapters
26 rdf:type schema:Chapter
27 N11ba6f6f4e1f4e30bf274aeb6d9ad25b schema:name Springer Berlin Heidelberg
28 rdf:type schema:Organisation
29 N140dd824b7e847f3a7d57e74565bde26 schema:name Springer Nature - SN SciGraph project
30 rdf:type schema:Organization
31 N409d602eb53742cc980294b679d31d8a schema:name readcube_id
32 schema:value 5dad58f13dc2b05debd7769792bf496b601975c99864562cf4acd5bd4c3f532d
33 rdf:type schema:PropertyValue
34 N42c5184be7f148ae9436aba27d82d455 schema:familyName Corke
35 schema:givenName Peter
36 rdf:type schema:Person
37 N4da0c19e7a7f43038c92775aaf643b77 schema:familyName Sukkariah
38 schema:givenName Salah
39 rdf:type schema:Person
40 N58992860580b43d0a895c4b5aa3be9d2 schema:isbn 978-3-540-33452-1
41 schema:name Field and Service Robotics
42 rdf:type schema:Book
43 N5af9b527c78c45a79c8865043f0b224f rdf:first sg:person.0740553076.39
44 rdf:rest N92d0eb6b2b08488aa8ee0061bf2afad6
45 N69efe353e128490aa06a8dbc86443ed3 rdf:first N42c5184be7f148ae9436aba27d82d455
46 rdf:rest Ne6c919f4b5054f11b2352c98a2a28144
47 N772fca0ff7694cf99de9915988a1d84b schema:name dimensions_id
48 schema:value pub.1019661262
49 rdf:type schema:PropertyValue
50 N92d0eb6b2b08488aa8ee0061bf2afad6 rdf:first sg:person.014567712523.03
51 rdf:rest Nd14541d3629544abb283e8d00a79a39a
52 Nb0dc65dd32744459a698d50664eea275 schema:name doi
53 schema:value 10.1007/978-3-540-33453-8_42
54 rdf:type schema:PropertyValue
55 Nd14541d3629544abb283e8d00a79a39a rdf:first sg:person.012047107743.70
56 rdf:rest Nf859086c16c847c9a2625a03fc03fa01
57 Ne6c919f4b5054f11b2352c98a2a28144 rdf:first N4da0c19e7a7f43038c92775aaf643b77
58 rdf:rest rdf:nil
59 Nf859086c16c847c9a2625a03fc03fa01 rdf:first sg:person.013454033251.77
60 rdf:rest rdf:nil
61 anzsrc-for:09 schema:inDefinedTermSet anzsrc-for:
62 schema:name Engineering
63 rdf:type schema:DefinedTerm
64 anzsrc-for:0906 schema:inDefinedTermSet anzsrc-for:
65 schema:name Electrical and Electronic Engineering
66 rdf:type schema:DefinedTerm
67 sg:person.012047107743.70 schema:affiliation https://www.grid.ac/institutes/grid.413170.0
68 schema:familyName Tokuda
69 schema:givenName Kenichi
70 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012047107743.70
71 rdf:type schema:Person
72 sg:person.013454033251.77 schema:affiliation https://www.grid.ac/institutes/grid.69566.3a
73 schema:familyName Tadokoro
74 schema:givenName Satoshi
75 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013454033251.77
76 rdf:type schema:Person
77 sg:person.014567712523.03 schema:affiliation https://www.grid.ac/institutes/grid.31432.37
78 schema:familyName Konishi
79 schema:givenName Kaoru
80 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014567712523.03
81 rdf:type schema:Person
82 sg:person.0740553076.39 schema:affiliation https://www.grid.ac/institutes/grid.69566.3a
83 schema:familyName Okamoto
84 schema:givenName Shogo
85 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.0740553076.39
86 rdf:type schema:Person
87 https://www.grid.ac/institutes/grid.31432.37 schema:alternateName Kobe University
88 schema:name Graduate school of Science and Technology, Kobe Univ. 1-1 Rokkodai, Nada, Kobe 657-8501, Japan
89 rdf:type schema:Organization
90 https://www.grid.ac/institutes/grid.413170.0 schema:alternateName Wakayama University
91 schema:name Dept. Opto-Mechatoronics, Wakayama Univ., 930 Sakaedani, Wakayama-city 640-8510, Japan
92 rdf:type schema:Organization
93 https://www.grid.ac/institutes/grid.69566.3a schema:alternateName Tohoku University
94 schema:name Graduate School of Information Sciences, Tohoku Univ. 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai, Japan
95 rdf:type schema:Organization
 




Preview window. Press ESC to close (or click here)


...