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 language | English |
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Pages | 406-412 |
Number of pages | 7 |
Publication status | Published - 1998 |
Externally published | Yes |
Event | Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can Duration: 1998 Oct 13 → 1998 Oct 17 |
Other
Other | Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) |
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City | Victoria, Can |
Period | 98/10/13 → 98/10/17 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications