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JRM Vol.20 No.6 pp. 912-919
doi: 10.20965/jrm.2008.p0912
(2008)

Paper:

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:
Shuro Nakajima and Eiji 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.
Data files:
References
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  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.
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Last updated on Mar. 01, 2021