Flexible locomotion control of a self-contained biped leg-wheeled system

Osamu Matsumoto*, Shuuji Kajita, Kiyoshi Komoriya

*この研究の対応する著者

研究成果: Paper査読

38 被引用数 (Scopus)

抄録

Combination of wheels and legs has the potential to realize efficient locomotion on a flat surface and also negotiation of artificial irregularity such as stairs or steps. We have been studying on biped leg-wheeled system to realize flexible locomotion in our daily life environment. This paper describes the design concept of the self-contained biped leg-wheeled system and its locomotion concept. The system has three locomotive modes-4-wheeled locomotive mode, 2-wheeled locomotive mode, stair negotiation mode. In the first mode, it can travel quickly and steer like a car with its four wheels contacting the ground. In the second mode, it can travel and steer like a wheeled inverted pendulum with two wheels contacting the ground. In the stair negotiation mode, it can negotiate the stairs with front and rear wheels continuously in contact with the horizontal and vertical surfaces of stairs. In this mode torque control of both wheels while maintaining the posture of the system is the key to successful negotiation. The control scheme and method for stair negotiation, which can be applied generally to a leg-wheeled system, are introduced. The effectiveness of the system is demonstrated by a successful experiment of the lift-up motion of the wheel using a biped leg-wheeled system developed in the authors' previous research.

本文言語English
ページ2599-2604
ページ数6
出版ステータスPublished - 2002
外部発表はい
イベント2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
継続期間: 2002 9 302002 10 4

Conference

Conference2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
国/地域Switzerland
CityLausanne
Period02/9/3002/10/4

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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