Hybrid Locomotion of Leg-Wheel ASTERISK H
Takenobu Yoshioka*, Tomohito Takubo*, Tatsuo Arai*,
and Kenji Inoue**
*Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3, Machikaneyama, Toyonaka, Osaka 560-8531, Japan
**Department of Bio-System Engineering, Faculty of Engineering, Yamagata University, 4-3-16 Jounan, Yonezawa, Yamagata 922-8510, Japan
Leg-wheel hybrid locomotion on rough terrain we propose for a hexapod robot is realized by continuous transition between wheeled and legged locomotion based on sensor feedback. In basic positioning on a flat surface, the robot is supported by three legs and moves using its wheels. Upon sensing an obstacle, the robot’s support and swing legs change to a tripod gait with an oval orbit to cross over the obstacle. The maximum obstacle height depends on the robot’s height and the positioning of the foreleg. We analyzed optimal positioning implemented in the hybrid robot ASTERISK H, as confirmed by experimental results.
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