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
  • [21] Cutaneous large B-cell leg-type lymphoma occurring on a leg burn
    Meziane, M.
    Hesse, S.
    Chetaille, B.
    Bien-Aimee, A.
    Grob, J. -J.
    Richard, M. -A.
    [J]. ANNALES DE DERMATOLOGIE ET DE VENEREOLOGIE, 2009, 136 (11): : 791 - 794
  • [22] Design, Construction, and Rough-Terrain Locomotion Control of Novel Hexapod Walking Robot With Four Degrees of Freedom Per Leg
    Cizek, Petr
    Zoula, Martin
    Faigl, Jan
    [J]. IEEE ACCESS, 2021, 9 : 17866 - 17881
  • [23] Leg Control for Changing Locomotion between Leg-type and Wheel-type Designs based on Effective Use of Total Power
    Okada, Tokuji
    Tanaka, B. Wagner
    Shimizu, Toshimi
    [J]. ADVANCES IN CLIMBING AND WALKING ROBOTS, PROCEEDINGS, 2007, : 365 - +
  • [24] Design, Construction, and Rough-Terrain Locomotion Control of Novel Hexapod Walking Robot with Four Degrees of Freedom per Leg
    Cizek, Petr
    Zoula, Martin
    Faigl, Jan
    [J]. IEEE Access, 2021, 9 : 17866 - 17881
  • [25] Compliance Control Based for a Quadruped Robot Walking over Rough Terrain
    Xu, Jiaqi
    Lang, Lin
    An, Honglei
    Ma, Hongxu
    Zhu, Kaiying
    [J]. 2015 CHINESE AUTOMATION CONGRESS (CAC), 2015, : 348 - 353
  • [26] A control strategy for a robot with one articulated leg hopping on irregular terrain
    Vermeulen, J
    Lefeber, D
    De Man, H
    [J]. PROCEEDINGS OF THE THIRD INTERNATIONAL CONFERENCE ON CLIMBING AND WALKING ROBOTS, 2000, : 399 - 406
  • [27] Virtual Model Control for Planetary Hexapod Robot Walking on Rough Terrain
    Massari, Mauro
    Cavenago, Francesco
    Canafoglia, Marco
    [J]. 2019 IEEE AEROSPACE CONFERENCE, 2019,
  • [28] Autonomous Control for Human-Robot Interaction on Complex Rough Terrain
    Mustafa, Mahmoud
    Ramirez-Serrano, Alex
    [J]. INTELLIGENT ROBOTICS AND APPLICATIONS, PT II, 2011, 7102 : 338 - 347
  • [29] ACTIVE SUSPENSION ROBOT FOR ROUGH TERRAIN
    TANI, K
    MATSUMOTO, O
    USUI, S
    HORIUCHI, E
    [J]. JOURNAL OF MECHANICAL ENGINEERING LABORATORY, 1992, 46 (02): : 211 - 227
  • [30] Compliant Walking Control for Hydraulic Driven Hexapod Robot on Rough Terrain
    Irawan, Addie
    Nonami, Kenzo
    [J]. JOURNAL OF ROBOTICS AND MECHATRONICS, 2011, 23 (01) : 149 - 162
12345