single-rb.php

JRM Vol.24 No.1 pp. 71-85
doi: 10.20965/jrm.2012.p0071
(2012)

Paper:

Omni-Directional Gait of Multi-Legged Robot on Rough Terrain by Following the Virtual Plane

Kenji Kamikawa*, Tomohito Takubo**, Yasushi Mae**,
Kenji Inoue***, and Tatsuo Arai**

*Hitachizosen Corporation, 2-2-11 Funamachi, Taisho-ku, Osaka 551-0022, Japan

**Osaka University, 1-3 Machikaneyama-cho, Toyonaka, Osaka 560-8531, Japan

***Yamagata University, 4-3-16 Jonan, Yonezawa, Yamagata 992-8510, Japan

Received:
March 9, 2011
Accepted:
July 20, 2011
Published:
February 20, 2012
Keywords:
virtual plane, rough terrain, slope, omnidirectional gait, multi-legged robot
Abstract

This paper proposes a simple gait algorithm for multilegged robots on slopes or rough terrain. This algorithm enables a robot follow a virtual plane defined by grounding points of the legs. The robot does not recognize the surrounding rough terrain. This proposed algorithm has been applied to an actual robot and proven. The robot has a touch sensor on the tip of each leg. The sensors detect contact with the ground, allowing the leg to be planted stably. When the robot moves over rough terrain, the robot body inclines as if becoming parallel to the virtual plane that is defined by the support points of the legs. The ASTERISK robot to which the algorithm has been applied has six limbs that radiate out in six directions, giving it rotational symmetry. Each leg of the robot has a cylindrical working space; the robot can move omnidirectionally without changing its posture. The movement algorithm is an easy, single-pattern operation that maintains a stable state at all times, and the robot can move without high-speed, real-time processing. The operation and effectiveness of this algorithm are verified on a slope and on steps through the experiment.

Cite this article as:
Kenji Kamikawa, Tomohito Takubo, Yasushi Mae,
Kenji Inoue, and Tatsuo Arai, “Omni-Directional Gait of Multi-Legged Robot on Rough Terrain by Following the Virtual Plane,” J. Robot. Mechatron., Vol.24, No.1, pp. 71-85, 2012.
Data files:
References
  1. [1] J. Casper and R. R. Murphy, “Human-Robot Interactions During the Robot-Assisted Urban Search and Rescue Response at the World Trade Center,” IEEE Trans. on Systems, Man, and Cybernetics, Part B, Cybernetics, Vol.33, No.3, pp. 367-385, 2003.
  2. [2] J. Carlson, R. R. Murphy, and A. Nelson, “Follow-up analysis of mobile robot failures,” Proc. of the 2004 IEEE Int. Conf. on Robotics and Automation, Vol.5, pp. 4987-4994, 2004.
  3. [3] A. Wolf, H. H. Choset, B. H. Brown, and R. W. Casciola, “Design and control of a mobile hyper-redundant urban search and rescue robot,” Advanced Robotics, Vol.19, No.3, pp. 221-248, 2005.
  4. [4] T. Bretl, S. Rock, J. C. Latombe, B. Kennedy, and H. Aghazarian, “Free-Climbing with a Multi-Use Robot,” Experimental Robotics IX, Springer Tracts in Advanced Robotics, 2006, Vol.21, pp. 449-458, 2006.
  5. [5] R. M. Voyles, A. C. Larson, J. Bae, and M. Lapoint, “Core-Bored Search-and-Rescue Applications for an Agile Limbed Robot,” Proc. of the 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.1, pp. 58-63, 2004.
  6. [6] Y. Fukuoka, H. Kimura, and A. H. Cohen, “Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain based on Biological Concepts,” Int. J. of Robotics Research, Vol.22, No.3-4, pp. 187-202, 2003.
  7. [7] M. Buehler, R. Playter, and M. Raibert, “Robots Step Outside,” Int. Symp. Adaptive Motion of Animals and Machines (AMAM), 2005.
  8. [8] C. M. Angle and R. A. Brooks, “Small Planetary Rovers,” Proc. of the 1990 IEEE Int. Workshop on Intelligent Robots and systems, Vol.1, pp. 383-388, 1990.
  9. [9] M. Kaneko, M. Abe, K. Tanie, S. Tachi, and S. Nishizawa, “Basic Experiments on a Hexapod Walking Machine (MELWALK-III) with an Approximate Straight-line Link Mechanism,” Proc. of Int. Conf. on Advanced Robotics, pp. 397-404, 1985.
  10. [10] Y. Go, X. Yin, and A. Bowling, “Navigability of Multi-Legged Robots,” IEEE/ASME Trans. on Mechatronics, Vol.11, Issue 3, pp. 1-8, 2006.
  11. [11] T. Takubo, T. Arai, K .Inoue, H .Ochi, T .Konishi, T .Tsurutani, Y. Hayashibara, and E .Koyanagi, “Integrated Limb Mechanism Robot ASTERISK,” J. of Robotics and Mechatronics, Vol.18, No.2, pp. 203-214, 2006.
  12. [12] H. Adachi, “Gait Control for a Quadruped Robot,” Report of Mechanical Engineering Laboratory No.184, Mechanical Engineering Laboratory, 2000. (in Japanese)
  13. [13] Y. Kanayama, R. B. McGhee, K. Yoneda, K. Suzuki, S. McMillan, H. Takahashi, and M. Iwasaki, “An Int. Joint Research Project on an Autonomous Underwater Walking Robot,” Proc. of Coastal Ocean Space Utilization, 1995.
  14. [14] K. Nonami, Q. Huang, D. Komizo, Y. Fukao, Y. Asai, Y. Shiraishi, M. Fujimoto, and Y. Ikedo, “Development and Control of Mine Detection Robot COMET-II and COMET-III,” JSME Int. J. Series C, Vol.46, No.3, pp. 881-890, 2003.
  15. [15] S. Hirose and K. Arikawa, “Development of Quadruped Walking Robot TITAN-VIII for Commercially Available Research Platform,” J. of the Robotics Society of Japan, Vol.17, No.8, pp. 139-145, 1999. (in Japanese)
  16. [16] M. Raibert, K. Blankespoor, G. Nelson, and R. Playter, “BigDog, the Rough-Terrain Quadruped Robot,” Proc. of the 17th World Congress The Int. Federation of Automatic Control, 2008.
  17. [17] N. Koyachi, H. Adachi, and T. Arai, “Development of Hexapod with Integrated Limb Mechanism of Leg & Arm: MELMANTIS-1,” J. of the Robotics Society of Japan, Vol.21, No.6, pp. 682-689, 2003. (in Japanese)
  18. [18] R. B. McGhee and A. A. Frank, “On the Stability Properties of Quadruped Creeping Gaits,” Mathematical Biosciences, Vol.3, pp. 331-351, 1968.
  19. [19] K. Yoneda, K. Suzuki, and Y. Kanayama, “Gait planning for versatile motion of a six legged robot,” Proc. of the 1994 IEEE Int. Conf. on Robotics and Automation, pp. 1338-1343, 1994.
  20. [20] J. P. Schmiedeler, N. J. Bradley, and B. Kennedy, “Maximizing Walking Step Length For A Near Omni-Directional Hexapod Robot,” Proc. of the 2004 ASME Int. Design Engineering Technical Conf. and Computers and Information in Engineering Conf., Paper No.DETC2004-57531, pp. 1371-1380, 2004.
  21. [21] K. Inoue, T. Tsurutani, T. Takubo, and T. Arai, “Omni-directional Gait of Limb Mechanism Robot Hanging from Grid-like Structure,” Proc. of the 2006 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1732-1737, 2006.
  22. [22] K. Kamikawa, T. Arai, Y. Mae, T. Takubo, and K. Inoue, “Expansion of movable area of multi legged robot by rotational gait,” J. of the Robotics Society of Japan, Vol.28 No.2, pp. 99-108, 2010. (in Japanese)
  23. [23] N. Koyachi, H. Adachi, T. Nakamura, and E. Nakano, “Design and Control of Self-contained Hexapod Walking Robot for Stairclimbing,” J. of the Robotics Society of Japan, Vol.11, No.6, pp. 918-928, 1993. (in Japanese)

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Jun. 08, 2021