Dynamic trajectory control of passing over stairs by a biped type leg-wheeled robot with nominal reference of static gait

Osamu Matsumoto*, Shuuji Kajita, Muneharu Saigo, Kazuo Tani

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

29 Citations (Scopus)

Abstract

We are studying a wheeled robot with the ability of going up and down stairs. We previously developed a wheeled robot called a `variable structure type four-wheeled robot' capable of passing over a single step, but it cannot negotiate the stairs whose tread is short compared with the wheelbase of the robot. In this paper, we propose a `biped type leg-wheeled robot' which has ability to pass over stairs with short treads. We also propose a trajectory planning method which uses a nominal static walking trajectory as a reference for the dynamic control of the robot, and investigate a trajectory control method using computer simulation. We finally confirm the effectiveness of our proposed method with a successful experiment of going up stairs by this robot.

Original languageEnglish
Pages406-412
Number of pages7
Publication statusPublished - 1998
Externally publishedYes
EventProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can
Duration: 1998 Oct 131998 Oct 17

Other

OtherProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
CityVictoria, Can
Period98/10/1398/10/17

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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