Fully Autonomous Locomotion Control of Hexapod Robot with LRF

  • Kenzo Nonami
  • Ranjit Kumar Barai
  • Addie Irawan
  • Mohd Razali Daud
Part of the Intelligent Systems, Control and Automation: Science and Engineering book series (ISCA, volume 66)


This chapter proposes several methods for crossing over an obstacle and descending and ascending a cliff based on LRF 3D point clouds data. The experimental results show that the proposed methods are useful for performing assigned tasks. The reliability and the accuracy of the LRF are basically satisfied to capitalize the capabilities of the legged robot COMET-IV, to increase the autonomy of the robot. Also, in order to increase the robustness of the system, another sensor, such as a stereo-vision camera, can be fused with the LRF. The capability of the stereo-vision camera to recognize colored object can help the system to distinguish between obstacles and not obstacles, such as the grasses.


Stride Length Step Count Point Cloud Data Laser Range Finder Quadruped Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer Japan 2014

Authors and Affiliations

  • Kenzo Nonami
    • 1
  • Ranjit Kumar Barai
    • 2
  • Addie Irawan
    • 3
  • Mohd Razali Daud
    • 3
  1. 1.Department of Mechanical Engineering Division of Artificial Systems Science Graduate School of EngineeringChiba UniversityChibaJapan
  2. 2.Department of Electrical EngineeringJadavpur UniversityKolkataIndia
  3. 3.Faculty of Electrical and Electronics Engineering Robotics and Unmanned Systems (RUS) groupUniversiti Malaysia PahangPahangMalaysia

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