Guide-dog robot Harunobu-5: a locomotion strategy sign-pattern-based stereotyped motion
Hideo Mori, Satoshi Yasutomi, Nasrollah Moghadam Charkari, Kazuhiro Nishikawa, Kencihi Yamaguchi, Shinj Kotani · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1993
A locomotion paradigm called 'sign pattern-based stereotyped motion' is described in this paper. It urges that the motion control patterns of the robot can be limited in to six primitive ones: Moving-Along, Moving-Toward, Moving-for-Sighting, Following-a-Person, Moving- through-Gate, Moving-along-Wall, and a locomotion from the starting point to the goal can be controlled by a sequence of these patterns. This paradigm is implemented in guide dog robot Harunobu-5, and tested in outdoor scene.