2007 Volume 73 Issue 732 Pages 2287-2294
A leg-wheel robot has mechanically separated four legs and two wheels, and it performs high mobility and stability on rough terrains. Although we have researched the adaptive gait for large rough terrains of the leg-wheel robot, it was limited to the terrain without a slant. To climb it over, the stability of the robot needs to be more considered. In this paper, the method to raise the stability for the upward step is described. If the robot needs larger stability at the upward step, the body trajectory has to go along to the terrain. In other words, the wheels have to touch the terrain. However the shape of the rough terrain is so complicated, that it is difficult to check with an external sensor. Therefore, the points are a judgment whether the wheels contact with the terrain and the control of the body. The robot judge whether the wheels contact with the terrain using rotation information of wheels or the load shearing ratio of legs. By deciding the body trajectory with these two methods, the robot can climb the rough terrain over more safely.
Transactions of the Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers Series A
Transactions of the Japan Society of Mechanical Engineers Series B
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series B
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A
