Hybrid Locomotion of Leg-Wheel ASTERISK H

被引：28
|
作者：
Yoshioka, Takenobu [1 ]
Takubo, Tomohito [1 ]
Arai, Tatsuo [1 ]
Inoue, Kenji [2 ]
机构：
[1] Osaka Univ, Grad Sch Engn Sci, Dept Syst Innovat, 1-3 Machikaneyama, Toyonaka, Osaka 5608531, Japan
[2] Yamagata Univ, Fac Engn, Dept Biosyst Engn, Yonezawa, Yamagata 9228510, Japan
来源：
JOURNAL OF ROBOTICS AND MECHATRONICS | 2008年 / 20卷 / 03期
关键词：
leg-wheel robot; climbing steps; hexapod robot; rough terrain;
D O I：
10.20965/jrm.2008.p0403
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Leg-wheel hybrid locomotion on rough terrain we propose for a hexapod robot is realized by continuous transition between wheeled and legged locomotion based on sensor feedback. In basic positioning on a flat surface, the robot is supported by three legs and moves using its wheels. Upon sensing an obstacle, the robot's support and swing legs change to a tripod gait with an oval orbit to cross over the obstacle. The maximum obstacle height depends on the robot's height and the positioning of the foreleg. We analyzed optimal positioning implemented in the hybrid robot ASTERISK H, as confirmed by experimental results.
引用
收藏
页码：403 / 412
页数：10
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