Adaptive Gait for a Leg-Wheel Robot Traversing Rough Terrain (Second Report: Step-Up Gait)

Shuro Nakajima; Eiji Nakano

doi:10.20965/jrm.2008.p0912

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JRM Vol.20 No.6 pp. 912-919

doi: 10.20965/jrm.2008.p0912

(2008)

Paper:

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Adaptive Gait for a Leg-Wheel Robot Traversing Rough Terrain (Second Report: Step-Up Gait)

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:

December 20, 2008

Keywords:

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

Abstract

A leg-wheel robot with four legs and two wheels mechanically separated features high mobility and stability on rough terrain. The adaptive gait for such terrain consists of three gait strategies. Here we focus on a step-up gait, part of an adaptive gait. Simulation and experiments demonstrated the feasibility of our proposal. Regarding the point of the step-up gait flow, when the robot reaches a step, it does not advance easily because it cannot take a normal gait in ascending the step. The difference between actual and desired wheel angles grows. The starting point of the step is detected using this information. The robot stops and prepares to ascend the step, placing all legs at the starting points of their work space. The robot then rises supported by its legs and wheels to enhance stability and to reduce energy use. To rise, it requires (1) acquisition of the target rise and (2) the correspondence in the difference between targeted and actual height.

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 a Leg-Wheel Robot Traversing Rough Terrain (Second Report: Step-Up Gait),” J. Robot. Mechatron., Vol.20 No.6, pp. 912-919, 2008.

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References

[1] 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.
[2] 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.
[3] S. Nakajima and E. Nakano, “Adaptive Gait for Large Rough Terrain of a Leg-wheel Robot (First Report: Gait Strategy),” Journal of Robotics and Mechatronics, Vol.20, No.5, pp. 801-805, 2008.
[4] 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.
[5] S.M. Song and K. J.Waldron, “Machines ThatWalk: The Adaptive Suspension Vehicle,” MIT Press, 1989.
[6] K. K. Hartikainen, A. J. Halme, H. Lehtinen, and K. O. Koskinen, “MECANT I:A Six Legged Walking Machine for Research Purposes in Outdoor Environment,” Proc. of the 1992 IEEE Int. Conf. on Robotics and Automation, pp. 157-163, 1992.
[7] D. M. Gorinevsky and A. Shneider, “Force Control of Legged Vehicles over Rigid and Soft Surfaces,” Int. Journal of Robotics Research, Vol.9, No.2, pp. 4-23, 1990.
[8] J. E. Bares and W. L. Whittaker, “Configuration of Autonomous Walkers for Extreme Terrain,” Int. Journal of Robotics Research, Vol.12, No.6, pp. 535-559, 1993.
[9] T. Hori, H. Kobayashi, and K. Inagaki, “Force Control for Hexapod Walking Robot with Torque Observer,” Proc. of the Int. Conf. on Intelligent Robots and Systems, pp. 1294-1300, 1994.

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

[1] [1] 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.

[2] [2] 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.

[3] [3] S. Nakajima and E. Nakano, “Adaptive Gait for Large Rough Terrain of a Leg-wheel Robot (First Report: Gait Strategy),” Journal of Robotics and Mechatronics, Vol.20, No.5, pp. 801-805, 2008.

[4] [4] 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.

[5] [5] S.M. Song and K. J.Waldron, “Machines ThatWalk: The Adaptive Suspension Vehicle,” MIT Press, 1989.

[6] [6] K. K. Hartikainen, A. J. Halme, H. Lehtinen, and K. O. Koskinen, “MECANT I:A Six Legged Walking Machine for Research Purposes in Outdoor Environment,” Proc. of the 1992 IEEE Int. Conf. on Robotics and Automation, pp. 157-163, 1992.

[7] [7] D. M. Gorinevsky and A. Shneider, “Force Control of Legged Vehicles over Rigid and Soft Surfaces,” Int. Journal of Robotics Research, Vol.9, No.2, pp. 4-23, 1990.

[8] [8] J. E. Bares and W. L. Whittaker, “Configuration of Autonomous Walkers for Extreme Terrain,” Int. Journal of Robotics Research, Vol.12, No.6, pp. 535-559, 1993.

[9] [9] T. Hori, H. Kobayashi, and K. Inagaki, “Force Control for Hexapod Walking Robot with Torque Observer,” Proc. of the Int. Conf. on Intelligent Robots and Systems, pp. 1294-1300, 1994.