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
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