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

Osamu Matsumoto*, Shuuji Kajita, Kazuo Tani

*この研究の対応する著者

研究成果: Paper査読

抄録

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.

本文言語English
ページ253-258
ページ数6
出版ステータスPublished - 1996
外部発表はい
イベントProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn
継続期間: 1996 3月 181996 3月 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

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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