Control law for rough terrain robot with Leg-type crawler

被引：11
|
作者：
Yokota, Sho [1 ]
Kawabata, Kuniaki [2 ]
Blazevic, Pierre [3 ]
Kobayashi, Hisato [4 ]
机构：
[1] Tokyo Univ Agr & Technol, Sch Bion, Tokyo, Japan
[2] RIKEN, Dis Adapt Robot, Res Unit, Saitama, Japan
[3] Lab Robot Versailles, Velizy Villacoublay, France
[4] Hosei Univ, Tokyo, Japan
来源：
IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2006年
关键词：
D O I：
10.1109/ICMA.2006.257570
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The purpose of this study is to develop a new mobile system using "Leg-type crawler" mechanism. Our proposed "Leg-type crawler" mechanism is a combination of crawler mechanism and walking mechanism. It has two links with crawler tracks and two rotational joints. The leg-type crawler is a unit which includes mechanisms and controller. The number of motors in leg-type crawler unit is 4. And this system has 4 leg-type crawler units. Thus the total number of motors is 16 in this system. Since this mobile system has high redundancy, it can take several moving modes. By combining such moving modes, it can move in almost all kinds of rough environments. To let the robot follow specified trajectory, we adopt a force distribution law to this system. The force distribution law is to allot the necessary force for main body movement to each leg-type crawler unit. In addition, we have to take into account the limitation of output forces of each unit. In this paper, we propose a control law with force saturation after showing the outline of the robot. We also verify this law by several experiments and simulations.
引用
收藏
页码：417 / +
页数：2
相关论文
共 50 条
  • [1] Development of mobile system using leg-type crawler for rough terrain
    Yokota, S
    Kawabata, K
    Kobayashi, H
    [J]. INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2004, 31 (02): : 218 - 223
  • [2] Development of mobile system using leg-type crawler for rough terrain
    Yokota, S
    Kobayashi, H
    Kawabata, K
    [J]. CLIMBING AND WALKING ROBOTS: AND THEIR SUPPORTING TECHNOLOGIES, 2003, : 301 - 307
  • [3] Development of a mobile system using leg-type crawlers for rough terrain
    Yokota, S
    Kobayashi, H
    Kawabata, K
    [J]. CLIMBING AND WALKING ROBOTS, 2002, : 899 - 906
  • [4] Development of the connected crawler robot for rough terrain - Realization of the autonomous motions
    Yokota, Sho
    Ohyama, Yasuhiro
    Hashimoto, Hiroshi
    She, Jin-Hua
    Kawabata, Kuniaki
    Blazevic, Pierre
    Kobayashi, Hisato
    [J]. ICINCO 2007: PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-2: ROBOTICS AND AUTOMATION, VOL 2, 2007, : 396 - +
  • [5] Motion Control of a Compliant Wheel-Leg Robot for Rough Terrain Crossing
    Bouton, Arthur
    Grand, Christophe
    Benamar, Faiz
    [J]. 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2016, : 2846 - 2851
  • [6] Rough terrain locomotion of a leg-wheel hybrid quadruped robot
    Takahashi, Masashi
    Yoneda, Kan
    Hirose, Shigeo
    [J]. 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, : 1090 - 1095
  • [7] RAPID MOVEMENT OF A CRAWLER ROBOT OVER ROUGH TERRAIN HAVING A HUMAN-LIKE UPPER BODY WITH INTUITIVE REMOTE CONTROL
    Fukuoka, Y.
    Hoshi, K.
    Minakata, N.
    Imai, Y.
    Nakamura, M.
    Inoue, K.
    Shiroma, N.
    Mori, Y.
    [J]. EMERGING TRENDS IN MOBILE ROBOTICS, 2010, : 842 - 849
  • [8] Minimalistic Control of a Compass Gait Robot in Rough Terrain
    Iida, Fumiya
    Tedrake, Russ
    [J]. ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, 2009, : 3246 - 3251
  • [9] An environmental adaptive control system of a wheel type mobile robot for the rough terrain movement
    Sato, Masanori
    Kanda, Atushi
    Ishiii, Kazuo
    [J]. 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, 2007, : 3968 - +
  • [10] Kinematic Modeling and Analysis of a Walking Machine (Robot) Leg Mechanism on a Rough Terrain
    Terefe, Tesfaye O.
    Lemu, Hirpa G.
    Mariam, Addisu K.
    Tuli, Tadele B.
    [J]. ADVANCES IN SCIENCE AND TECHNOLOGY-RESEARCH JOURNAL, 2019, 13 (03) : 43 - 53
12345