Free Gait Algorithm with Two Returning Legs of a Leg-Wheel Robot-Reference-Cited by-同舟云学术

Free Gait Algorithm with Two Returning Legs of a Leg-Wheel Robot

Published:2008-08-20 Issue:4 Volume:20 Page:661-668
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Nakajima Shuro, ,Nakano Eiji,Takahashi Takayuki,

Abstract

The leg-wheel robot we developed has four legs and two wheels mechanically separated and operates with high mobility and stably on rough terrain. We propose a free gait algorithm for the leg-wheel robot that enables continuous locomotion under random velocity commands. The gait algorithm, based on a predictive event-driven approach, determines leg-lift timing to keep legs within prescribed work areas. The robot is operated remotely by an operator who uses a controller to give straight velocity and angular velocity. Our algorithm fully automates leg control via the operator's commands, and its feasibility was confirmed in simulation and experiments.This paper is the full translation from the transactions of JSME Vol.71, No.705.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

Reference15 articles.

1. E. Nakano, T. Takahashi, Z. Wang, Y. Dai, and S.Nakajima, “A Simplified Cooperational Motion Control Method of a Leg-Wheel Robot for an Unexplored Rough Terrain Environment,” Proc. of The 4th World Multiconference on Systems Cybernetics and Informatics, Vol.XI, pp. 234-239, 2000.

[2] S. Nakajima, E. Nakano, and T. Takahashi, “Motion Control Technique for Practical Use of a Leg-Wheel Robot on Unknown Outdoor Rough Terrains,” Proc. of The Int. Conf. on Intelligent Robots and Systems, Vol.1, pp. 1353-1358, 2004.

2. S. Nakajima, E. Nakano, and T. Takahashi, “The Motion Control Method for a Leg-wheel Robot on Unexplored Rough Terrains,” Journal of the Robotics Society of Japan, Vol.22, No.8, pp. 1082-1092, 2004.

3. M. Kumagai, T. Takahashi, Z. -D. Wang, and E. Nakano, “ Continuous Locomotion of Leg-Wheel Robot with Predictive Event Driven Gait,” Journal of the Robotics Society of Japan, Vol.19, No.6, pp. 775-783, 2001.

4. S. Nakajima, E. Nakano, and T. Takahashi, “Trot and Pace Gaits based on the Predictive Event Driven Method for a Leg-wheel Robot,” Journal of the Robotics Society of Japan, Vol.22, No.8, pp. 1070-1081, 2004.

5. H. Tsukagoshi and S. Hirose, “The Proposal of the Intermittent Crawl Gait and its Generation,” Journal of the Robotics Society of Japan, Vol.17, No.2, pp. 301-309, 1999.

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