Development of a leg-wheel hybrid mobile robot and its step-passing algorithm

被引：0
|
作者：
Adachi, H [1 ]
Koyachi, N [1 ]
机构：
[1] Natl Inst Adv Ind Sci & Technol, Tsukuba, Ibaraki 3058564, Japan
来源：
IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4: EXPANDING THE SOCIETAL ROLE OF ROBOTICS IN THE NEXT MILLENNIUM | 2001年
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D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes development of a leg-wheel hybrid mobile robot and its step-passing algorithm. Authors have been developing a mobile robot named "Walk'n Roll". It has a leg-wheel hybrid locomotion mechanism. The robot has four legs, and a wheel is attached at the end of each leg. Legged locomotion has high adaptability for rough terrain, and wheeled locomotion posses speed and efficiency. Developing purpose of the robot is combining both advantages of leg and wheel mechanisms. One of the obstacles that wheeled vehicle cannot pass is a step. A control algorithm for the leg-wheel hybrid mobile robot to pass a step is considered. Developed algorithm is implemented to the Walk'n Roll, and it is evaluated experimentally.
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页码：728 / 733
页数：6
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