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

Shuro Nakajima; Eiji Nakano

doi:10.20965/jrm.2009.p0285

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JRM Vol.21 No.2 pp. 285-292

doi: 10.20965/jrm.2009.p0285

(2009)

Paper:

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

April 20, 2009

Keywords:

mobile robot, adaptive gait, leg-wheel robot, 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-over gait, which is one part of the adaptive gait, is described. The proposed method is evaluated by simulations and experiments. The point of the flow of the step-over gait is described. When the body reaches an obstacle, it does not come to advance easily. In this case, the robot can not always understand the height of the obstacle, since its forefeet sometimes do not touch it. Therefore, the robot raises its body as possible as it can, and gets over the obstacle. After getting over it, the body is lowered until it touches the ground. The system judges whether the body touches the ground by the information on load sharing ratio of legs.

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 (Fourth Report: Step-Over Gait),” J. Robot. Mechatron., Vol.21 No.2, pp. 285-292, 2009.

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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. M. Song and K. J. Waldron, “Machines That Walk: The Adaptive Suspension Vehicle,” MIT Press, 1989.
[5] 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.
[6] 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.
[7] T. Hori et al., “Force Control for Hexapod Walking Robot with Torque Observer,” Proc. of the Int. Conf. on Intelligent Robots and Systems, pp. 1294-1300, 1994.
[8] 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.
[9] 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.
[10] S. Nakajima and E. Nakano, “Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Third Report: Step-Down Gait),” Journal of Robotics and Mechatronics, Vol.21, No.1, pp. 12-20, 2009.

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

[5] [5] 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.

[6] [6] 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.

[7] [7] T. Hori et al., “Force Control for Hexapod Walking Robot with Torque Observer,” Proc. of the Int. Conf. on Intelligent Robots and Systems, pp. 1294-1300, 1994.

[8] [8] 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.

[9] [9] 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.

[10] [10] S. Nakajima and E. Nakano, “Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Third Report: Step-Down Gait),” Journal of Robotics and Mechatronics, Vol.21, No.1, pp. 12-20, 2009.