Dynamic Control of Fast Passing Over Stairs by a Biped Type Leg-wheeled Robot Considering the Continuity of Dynamic Trajectories

Abstract

We are studying a leg-wheeled robot with the ability of going up and down stairs. We already developed a 'biped type leg-wheeled robot' which has ability to pass over stairs with short treads, but it could not negotiate the stairs fast. In this paper, in order to realize the fast negotiation of stairs, we propose a new dynamic trajectory planning method to make the staggering distance smaller and the landing stabler. We also propose a method to connect the dynamic trajectory control motion in statically unstable state and the structure changing motion in statically stable state. As the result, we realize the fast going up and down stairs by this robot successfully and confirm the effectiveness of our proposed method.