Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Fifth Report: Integrated Gait)

Shuro Nakajima; Eiji Nakano

doi:10.20965/jrm.2009.p0419

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JRM Vol.21 No.3 pp. 419-426

doi: 10.20965/jrm.2009.p0419

(2009)

Paper:

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Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Fifth Report: Integrated 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:

June 20, 2009

Keywords:

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

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 integrated gait of the normal gait and the adaptive gaits for large rough terrain is proposed. The proposed gait has following features: 1. There is a path from a gait to any other gait. 2. The robot does not fall into the endless loop of detection, because it moves whenever it detects something. 3. A gait changes finally to step-over gait which has the maximum ability of movement when the robot can not move. The robot can move on rough terrains where irregular ruggednesses up to 0.2 m in height or depth exist by using the integrated gait. The effectiveness of the integrated gait is verified through simulations and experiments.

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 (Fifth Report: Integrated Gait),” J. Robot. Mechatron., Vol.21, No.3, pp. 419-426, 2009.

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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] 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] 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. 12-19, 2009.
[6] S. Nakajima and E. Nakano, “Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Fourth Report: Step-over gait),” Journal of Robotics and Mechatronics, Vol.21, No.2, pp. 285-292, 2009.
[7] 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.
[8] S. M. Song and K. J. Waldron, “Machines That Walk: The Adaptive Suspension Vehicle,” MIT Press, 1989.
[9] D. M. Gorinevsky and A. Shneider, “Force Control of Legged Vehicles over Rigid and Soft Surfaces,” The Int. Journal of Robotics Research, Vol.9, No.2, pp. 4-23, 1990.
[10] 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.
[11] 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] 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. 12-19, 2009.

[6] [6] S. Nakajima and E. Nakano, “Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Fourth Report: Step-over gait),” Journal of Robotics and Mechatronics, Vol.21, No.2, pp. 285-292, 2009.

[7] [7] 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.

[8] [8] S. M. Song and K. J. Waldron, “Machines That Walk: The Adaptive Suspension Vehicle,” MIT Press, 1989.

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

[10] [10] 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.

[11] [11] 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.