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This paper introduces the effectiveness of the body motion for the pace gait of vertical ladder climbing. The pace gait is a symmetrical motion of left side and right side to climb the ladder. As a previous work, we realized the vertical ladder climbing motion; however, it is not stable since the external disturbance is not considered. We add a body motion as an improvement. The external disturbance...
This paper presents an indoor navigation scheme for a skid-steering mobile robot using a low-cost gyro sensor and a monocular camera. Based on the kinematic model under nonholonomic constraint, a motion controller is designed, and so as to account for some uncertainties from the wheel-ground friction and slip, the rotational velocity measurement from a gyro is incorporated into the model. This control...
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