Dynamic trajectory control of a variable structure type four-wheeled robot to pass over steps

Osamu Matsumoto, Shuuji Kajita, Kazuo Tani

Research output: Contribution to conferencePaperpeer-review

Abstract

We have developed a robot called a 'variable structure type four-wheeled robot' which, with a simple structure, has ability to pass over a step. Though this robot has only one degree of freedom to change the body's structure, it can run on four wheels (4-wheeled mode) or on two wheels like a wheeled inverted pendulum (2-wheeled mode). For the realization of stepping up and down, we already proposed a method by combining the transfer from 4- to 2-wheeled mode and the transfer from 2- to 4-wheeled mode and realized an experiment of passing over a step whose height is larger than the radius of the wheel successfully. In this paper, we propose two dynamic trajectory control methods to make the passing over a step speedy. First, we have divided the whole sequence of stepping up or down into two sequences and extended the planning of softlanding trajectory which we already proposed in the transfer from 2- to 4-wheeled mode to cover each sequence. As a result, we have successfully realized an experiment of stepping up or down of this robot in about 15 seconds. Second, using the same trajectory planning method to cover the exchange of the contacting wheel from rear to front, we have planned a continuous trajectory throughout stepping up or down. As the result, we have successfully realized an experiment of the stepping up or down of this robot in only 2.4 seconds.

Original languageEnglish
Pages253-258
Number of pages6
Publication statusPublished - 1996
Externally publishedYes
EventProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn
Duration: 1996 Mar 181996 Mar 21

Conference

ConferenceProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2)
CityTsu, Jpn
Period96/3/1896/3/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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