Adaptive Gait for Large Rough Terrain of a Leg-wheel Robot  (First Report : Gait Strategy)

Shuro Nakajima; Eiji Nakano

doi:10.20965/jrm.2008.p0801

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JRM Vol.20 No.5 pp. 801-805

doi: 10.20965/jrm.2008.p0801

(2008)

Paper:

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Adaptive Gait for Large Rough Terrain of a Leg-wheel Robot (First Report : Gait Strategy)

Shuro Nakajima and Eiji Nakano

The Department of Advanced Robotics, Chiba Institute of Technology
2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan

Received:

April 4, 2008

Accepted:

April 4, 2008

Published:

October 20, 2008

Keywords:

mobile robot, leg-wheel robot, adaptive gait, gait strategy, large rough terrain

Abstract

A leg-wheel robot with four mechanically separated legs and two wheels is highly mobile and stable on rough terrain. We discuss the strategy for the robot movement over large rough terrain, classifying topographical features into 13 patterns of combined terrain surface. To traverse all classified terrain, we propose three adaptive gaits: (1) Step-up gait in which frontfoot landing is higher than contact with the wheel ground, and the robot raises itself toward frontfoot landing; (2) Step-down gait in which frontfoot landing is lower than contact with the wheel ground, and the robot lowers itself toward frontfoot landing; and (3) Step-over gait in which frontfoot landing is no higher than contact with the wheel ground, but the robot raises itself as high as possible.¹

1. This paper is the full translation from the transactions of JSME Vol.72, No.721.

Cite this article as:

S. Nakajima and E. Nakano, “Adaptive Gait for Large Rough Terrain of a Leg-wheel Robot (First Report : Gait Strategy),” J. Robot. Mechatron., Vol.20 No.5, pp. 801-805, 2008.

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References

[1] S. Nakajima et al., “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.
[2] S. Nakajima, et al., “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.
[3] T. Ohmichi and T. Ibe, “Development of Vehicle with Legs and Wheels,” Journal of the Robotics Society of Japan, Vol.2, No.3, pp. 244-251, 1984.
[4] S. Hirose, et al., “The Basic Study of the Intelligent Gait Control for Quadrupedal Walking Vehicle,” Keisoku Jido Seigyo Gakkai Ronbunshu (Transactions of the Society of Instrument and Control Engineers), Vol.18-2, pp. 193-200, 1982.
[5] S. Hirose, et al., “The Gait Control System of the Quadruped Walking Vehicle,” Journal of the Robotics Society of Japan, Vol.3, No.4, pp. 304-323, 1985.

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

[1] [1] S. Nakajima et al., “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.

[2] [2] S. Nakajima, et al., “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.

[3] [3] T. Ohmichi and T. Ibe, “Development of Vehicle with Legs and Wheels,” Journal of the Robotics Society of Japan, Vol.2, No.3, pp. 244-251, 1984.

[4] [4] S. Hirose, et al., “The Basic Study of the Intelligent Gait Control for Quadrupedal Walking Vehicle,” Keisoku Jido Seigyo Gakkai Ronbunshu (Transactions of the Society of Instrument and Control Engineers), Vol.18-2, pp. 193-200, 1982.

[5] [5] S. Hirose, et al., “The Gait Control System of the Quadruped Walking Vehicle,” Journal of the Robotics Society of Japan, Vol.3, No.4, pp. 304-323, 1985.