Paper Info
Title
Adaptive Gait For Large Rough Terrain Of A Leg-Wheel Robot (Third Report: Step-Down Gait)
Abstract
A leg-wheel robot has mechanically separated four legs and two wheels, and it performs high mobility and stability on rough terrains. The adaptive gait for large rough terrains of the leg-wheel robot is composed of three gait strategies. In this paper, the step-down gait, which is one part of the adaptive gait, is described. The point of the flow of the step-down gait is described. When the robot approaches a downward step, a forefoot touches the surface deeply. It forecasts the existence of the downward step by the information on the forefoot's touch point. After that, the robot does the step edge searching operation. This searching operation is the point for going down the step, since the robot fell under the step if it has walked without knowing the step. When the body goes down the step a little, the load sharing ratio of legs increases so that the load of the body rests upon legs. Therefore, the robot finds the edge of it, and it changes footsteps for preparation of going down the step. After the preparation, it can lower the body from the step supported by all legs and wheels. To lower the body, the following items are needed similar to the case of an upward step: 1. Acquisition of target value of lowering the body. 2. Correspondence to difference between target depth and actual depth.
Year
DOI
Venue
2009
10.20965/jrm.2009.p0012
JOURNAL OF ROBOTICS AND MECHATRONICS
Keywords
Field
DocType
mobile robot, leg-wheel robot, adaptive gait, rough terrain, motion control
Computer vision,Motion control,Gait,Simulation,Computer science,Terrain,Artificial intelligence,Robot,Forefoot,Mobile robot
Journal
Volume
Issue
ISSN
21
1
0915-3942
Citations 
PageRank 
References 
0
0.34
0
Authors
2
Name
Order
Citations
PageRank
Shuro Nakajima14511.54
Eiji Nakano222.45