JRM Vol.20 No.2 pp. 206-212
doi: 10.20965/jrm.2008.p0206


Wheel Locomotion of a Biped Robot Using Passive Rollers – Large Biped Robot Roller Walking Using a Variable-Curvature Truck –

Masaaki Kumagai* and Kaoru Tamada**

*Tohoku Gakuin University

**Iris Ohyama

September 27, 2007
November 30, 2007
April 20, 2008
biped robot, passive wheel, roller walk, leg-wheel hybrid

This paper proposes the leg-wheel locomotion of a biped robot. The feet of the robot consist of wheels that move forward with the periodic motion of a leg under a double-leg support. There are many types of approach leg-wheel hybrid systems; however, biped system with passive wheels is rarely used. A special axle mechanism is introduced so that the wheels could smoothly track a curved path for propulsive motion. Finally, the robot achieves not only straight and circular motion but also pivoting motion that is significantly faster than walking, while implementing a minimal number of simple components. The concept of locomotion, function of the mechanism, and experimental results are described in this paper.

Cite this article as:
Masaaki Kumagai and Kaoru Tamada, “Wheel Locomotion of a Biped Robot Using Passive Rollers – Large Biped Robot Roller Walking Using a Variable-Curvature Truck –,” J. Robot. Mechatron., Vol.20, No.2, pp. 206-212, 2008.
Data files:
  1. [1] 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 2004 IROS, Japan, pp. 1353-1358, 2004.
  2. [2] J. A. Smith, I. Sharf, and M. Trentini, “PAW: a HybridWheeled-Leg Robot,” Proc. of 2006 ICRA, Florida, pp. 4043-4048, 2006.
  3. [3] J. A. Smith, I. Sharf, and M. Trentini, “Bounding Gait in a Hybrid Wheeled-Leg Robot,” Proc. of 2006 IROS, China, pp. 5750-5755, 2006.
  4. [4] G. Endo and S. Hirose, “Study on Roller-Walker (Multi-mode Steering Control and Self-contained Locomotion),” Proc. 2000 ICRA, CA, pp. 2808-2814, 2000.
  5. [5] K. Hashimoto, T. Hosobata, Y. Sugahara, Y. Mikuriya, H. Sunazuka, M. Kawase, H. Lim, and A. Takanishi, “Realization by Biped Legwheeled Robot of Biped Walking and Wheel-driven Locomotion,” Proc. of 2005 ICRA, Spain, pp. 2970-2975, 2005.
  6. [6] W. Weiguo, W. Yu, and L. Feng, “Development, Stability Locomotion Analysis and Experiments of Wheeled-Locomotion Mechanism for a Humanoid and Gorilla Robot,” Proc of Int. Conf on Robotics and Biomimetics, China, pp. 1390-1395, 2006.
  7. [7] O. Matsumoto, S. Kajita, and K. Komoriya, “Flexible Locomotion Control of a Selft-contained Biped Leg-wheeled System,” Proc. of 2002 IROS, Switzerland, pp. 2599-2604, 2002.
  8. [8] M. Miwa and K. Maeda, “High-speed Sliding of Two-Legged Robot with Passive Roller,” Proc. of Robomec 07, JSME, Japan, pp. 2A1-K06, 2007, (in Japanese).
  9. [9] M. Higano, Y. Ujita, and T. Taguchi, “Development of biped skating robot ”BSR-1”,” Proc. of Robomec 06, JSME, Japan, pp. 1A1-D32, 2006, (in Japanese).
  10. [10] K. Hashimoto, Y. Sugahara, et al., “Sliding Motion of Biped Walking Robots Mounted on PassiveWheels —1st Report: Realization of Swizzle Motion by Inline Skates—,” Proc. of Robomec 07, JSME, Japan, pp. 1A1-E11, 2007, (in Japanese).
  11. [11] G. Endo, “Robot system and its control method, and passive wheels,” Japanese Patent, Japan, patent application laid-open disclosure number 2006-68884, 2004/2006, (in Japanese).

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

Last updated on Feb. 25, 2021