Top > JRM > Configuration-Based Wheel Control for Step-Climbing Vehicle

single-rb.php

JRM Vol.19 No.1 pp. 52-59
doi: 10.20965/jrm.2007.p0052
(2007)

Paper:

Views over last 60 days: 412

Configuration-Based Wheel Control for Step-Climbing Vehicle

Daisuke Chugo*, Kuniaki Kawabata**, Hayato Kaetsu**,
Hajime Asama***, and Taketoshi Mishima****

*The University of Electro-Communications, 5-1-5 Chofugaoka, Chofu, Tokyo 182-8585, Japan

**RIKEN (The Institute of Physical and Chemical Research), 2-1 Hirosawa, Wako, Saitama 351-0198, Japan

***The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8568, Japan

****Saitama University, 255 Shimo-Ookubo, Saimata, Saitama 338-8570, Japan

Received:
November 2, 2005
Accepted:
November 20, 2006
Published:
February 20, 2007
Creative Commons License
Keywords:
omnidirectional mobility, passive linkage, step climbing, wheel control
Abstract
We propose a derivation of adaptable wheel rotation velocity for negotiating irregular terrain based on vehicle configuration. We developed a holonomic vehicle capable of negotiating steps and running around omnidirectionally on a flat floor using seven special wheels and two passive links. Each wheel has its actuator, requiring that the rotation velocity of individual wheels be coordinated, which is difficult due to changes rotation speed when the passive link negotiates the irregular terrain. Unstable rotation velocity calculated without considering the vehicle configuration causes wheel slippage and rotation error that adversely affect mobility on rough terrain. Because conventional general traction control cannot coordinate wheel velocity, we propose reference derivation that does so based on the vehicle configuration. In the sections that follow, we focus on (1) the derivation of individual wheel velocity during step climbing and (2) adaptation to wheel control reference while balancing rotation velocity among wheels. We confirm the feasibility of our proposal in experiments using our vehicle prototype.
Cite this article as:
D. Chugo, K. Kawabata, H. Kaetsu, H. Asama, and T. Mishima, “Configuration-Based Wheel Control for Step-Climbing Vehicle,” J. Robot. Mechatron., Vol.19 No.1, pp. 52-59, 2007.
Data files:
References
  1. [1] G Campion, G. Bastin, and B. D. Andrea-Novel, “Structural Properties and Classification of Kinematic and Dynamic Models of Wheeeled Mobile Robots,” in IEEE Trans. on Robotics and Automation, Vol.12, No.1, pp. 47-62, 1996.
  2. [2] M. Ichikawa, “Wheel arrangements for Wheeled Vehicle,” Journal of the Robotics Society of Japan, Vol.13, No.1, pp. 107-112, 1995.
  3. [3] G. Endo and S. Hirose, “Study on Roller-Walker: System Integration and Basic Experiments,” in Proc. of the 1999 IEEE Int. Conf. on Robotics & Automation, pp. 2032-2037, 1999.
  4. [4] T. McGeer, “Passive dynamic walking,” The Int. Journal of Robotics Research, Vol.9, No.2, pp. 62-82, 1990.
  5. [5] M. Wada and H. Asada, “Design and Control of a Variabel Footpoint Mechanism for Holonomic Omnidirectional Vehicles and its Application to Wheelchairs,” in IEEE Trans. on Robotics and Automation, Vol.15, No.6, pp. 078-989, 1999.
  6. [6] S. Hirose and S. Amano, “The VUTON: High Payload,High Efficiency Holonomic Omni-Directional Vehicle,” in Proc. of the 6ht Symp. on Robotics Research, pp. 253-260, 1993.
  7. [7] D. Chugo, K. Kawabata, H. Kaetsu, H. Asama, and T. Mishima, “Development of omini-directional vehicle with step-climbing ability,” in Proc. of the 1003 IEEE Int. Conf. on Robotics and Automation, pp. 3849-3854, 2003.
  8. [8] H. Asama, M. Sato, L. Bogoni, H. Kaetsu, A. Matsumoto, and I. Endo, “Development of an Omni-Directional Movile Robot with 3DOF Decoupling Drive Mechanism,” in Proc. of the 1995 IEEE Int. Conf. on Robotics and Automation, pp. 1925-1930, 1995.
  9. [9] H. W. Stone, “Mars Pathfinder Microover: A Low-Cost, Low-Power Spacecraft,” in Proc. of the 1996 AIAA Forum on Advanced Developments in Space Robotics, 1996.
  10. [10] M. Thianwiboon, V. Sangveraphunsiri, and R. Chancharoen, “Rocker-Bogie Suspension Performance,” The 11th Int. Pacific Conf. in Automotive Engineering, Shanghai, China, IPC2001D079, 2001.
  11. [11] D. Chugo, K. Kawabata, H. Kaetsu, H. Asama, and T. Mishima, “Mechanical Design of Step-Climbing Vehicle with Passive Linkages,” in Proc. of the 8ht Int. Conf. on Climbing and Walking Robots, pp. 287-294, 2005.
  12. [12] B. Carisle, “An Omni-Directional Mobile Robot,” Developments in Robotics 1983, IFS Publications Ltd., pp. 79-87, 1983.
  13. [13] D. Chugo, K. Kawabata, H. Kaetsu, H. Asama, and T. Mishima, “Development of Control System for Omni directional Vehicle with Step-Climbing Ability,” in Proc. of the 4th Int. Conf. on Field and Service Robotics, pp. 121-126, 2003.
  14. [14] Y. Kuroda, K. Kondo, K. Nakamura, Y. Kunii, and T. Kubota, “Low Power Mobility System for Micro Planetary Rover Micro5,” in Proc. of the 5ht Int. Symp. on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS99), pp. 77-82, 1999.
  15. [15] P. Lamon, A. Krebs, M. Lauria, S. Shooter, and R. Siegwart, “Wheel torque control for a rough terrain rover,” in Proc. of the Int. Conf. on Robotics and Automation, pp. 4682-4687, 2004.
  16. [16] K. Yoshida and H. Hamano, “Motion Dynamic of a Rover With Slip-Based Traction Model,” in Proc. of the 2002 IEEE Int. Conf. on Robotics & Automation, pp. 3155-3160, 2001.
  17. [17] D. Chugo, K. Kawabata, H. Kaetsu, H. Asama, and T. Mishima, “Develipment of a Control System for an Omni Directional Vehicle with Step-Climbing Ability,” Advanced Robotics, Vol.19, No.1, pp. 51-71, 2005.

Creative Commons License  This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

Copyright© 2007 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Sep. 20, 2024