Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Third Report: Step-Down Gait)

Shuro Nakajima; Eiji Nakano

doi:10.20965/jrm.2009.p0012

single-rb.php

« previous

JRM Vol.21 No.1 pp. 12-19

doi: 10.20965/jrm.2009.p0012

(2009)

Paper:

Views over last 60 days: 458

Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Third Report: Step-Down 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:

February 20, 2009

Keywords:

mobile robot, leg-wheel robot, adaptive gait, rough terrain, motion control

Abstract

A leg-wheel robot has mechanically separated four legs and two wheels, and it performs high mobility and stability on rough terrains. The adaptive gait for large rough terrains of the leg-wheel robot is composed of three gait strategies. In this paper, the step-down gait, which is one part of the adaptive gait, is described. The point of the flow of the step-down gait is described. When the robot approaches a downward step, a forefoot touches the surface deeply. It forecasts the existence of the downward step by the information on the forefoot's touch point. After that, the robot does the step edge searching operation. This searching operation is the point for going down the step, since the robot fell under the step if it has walked without knowing the step. When the body goes down the step a little, the load sharing ratio of legs increases so that the load of the body rests upon legs. Therefore, the robot finds the edge of it, and it changes footsteps for preparation of going down the step. After the preparation, it can lower the body from the step supported by all legs and wheels. To lower the body, the following items are needed similar to the case of an upward step: 1. Acquisition of target value of lowering the body. 2. Correspondence to difference between target depth and actual depth.

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 (Third Report: Step-Down Gait),” J. Robot. Mechatron., Vol.21 No.1, pp. 12-19, 2009.

Data files:

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] S. Nakajima and E. Nakano, “Adaptive Gait for Large Rough Terrain of a Leg-wheel Robot (Second Report: Step-Up Gait),” Journal of Robotics and Mechatronics, Vol.20, No.6, pp. 913-920, 2008.
[5] 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.
[6] S. M. Song and K. J. Waldron, “Machines That Walk:The Adaptive Suspension Vehicle,” MIT Press, 1989.
[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,” The 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] S. Nakajima and E. Nakano, “Adaptive Gait for Large Rough Terrain of a Leg-wheel Robot (Second Report: Step-Up Gait),” Journal of Robotics and Mechatronics, Vol.20, No.6, pp. 913-920, 2008.

[5] [5] 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.

[6] [6] S. M. Song and K. J. Waldron, “Machines That Walk:The Adaptive Suspension Vehicle,” MIT Press, 1989.

[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,” The 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.