Quasi-static rolling control of the rolling disk biped robot

被引：5
|
作者：
Phipps, Cristian C. [1 ]
Minor, Mark A. [1 ]
机构：
[1] Univ Utah, Dept Mech Engn, Salt Lake City, UT 84101 USA
来源：
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年
关键词：
D O I：
10.1109/ROBOT.2008.4543373
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Motivated by the need for greater speed, adaptability and efficiency in legged robots, a class of hybrid robots have been developed which hybridize rolling locomotion with legged locomotion. Herein we present a quasi-static rolling control law for the hybrid climbing/rolling robot the Rolling Disk Biped. We provide experimental results comparing speed and energy consumption data for quasi-static roiling versus walking. We show that rolling can significantly improve energy efficiency over walking-by as much as a factor of 3.9.
引用
收藏
页码：1239 / 1245
页数：7
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