Design of a leg-wheel hybrid mobile platform

Shen, Shuan-Yu; Li, Cheng-Hsin; Cheng, Chih-Chung; Lu, Jau-Ching; Wang, Shaofan; Lin, Pei-Chun

doi:10.1109/iros.2009.5353958

Cited by 56 publications

(20 citation statements)

References 16 publications

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“…The algorithm developed in the previous sections has been simulated in Matlab with a particular set of parameters (W = 27, H = 17, d = 8.5, L = 21, BL = 44.4, and p = 41%), which matches the parameters of Quattroped [14] and of general local stairs. Figure 7 (left) shows sequential snapshots of simulated results for the climbing of one step.…”

Section: Simulationmentioning

confidence: 99%

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Stair Climbing in a Quadruped Robot

Chen

et al. 2012

AUSMT

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This paper reports the algorithm of trajectory planning and the strategy of four-leg coordination for quasi-static stair climbing in a quadruped robot. This development is based on the geometrical interactions between robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and then four-leg coordination. In addition, a brief study on the robot's locomotion stability is also included. Finally, simulation and experimental testing were executed to evaluate the performance of the algorithm.

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Section: Simulationmentioning

confidence: 99%

“…In addition to our goal of driving Quattroped [14] on various terrains, we are interested in investigating general stair climbing strategy in a mid-size quadruped (i.e. body length around 40-80 cm), which is approximately the minimum size of a robot capable of continuous stair climbing.…”

Section: Introductionmentioning

confidence: 99%

Stair Climbing in a Quadruped Robot

Chen

et al. 2012

AUSMT

Self Cite

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“…Lin et al proposed a wheel-leg-hybrid robot that can change the morphology of full-circle wheels into half-circle legs using a transformation mechanism. [20,21] To change locomotion mode, robots in this category usually need performing shape alternating procedures.…”

Section: Introductionmentioning

confidence: 99%

A versatile locomotion mechanism for amphibious robots: eccentric paddle mechanism

Sun

Ma²

2013

Advanced Robotics

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Most of recently developed rescue robots can only be deployed to limited attacked regions after tsunami and the floods, due to their limited mobility on complex amphibious terrains. To access such amphibious environments with improved mobility, we propose a novel eccentric paddle mechanism (ePaddle) which has a set of paddles eccentrically placed in a wheel to perform multiple terrestrial, aquatic, and amphibious gaits. One of the advantages of our proposed ePaddle mechanism is its unique locomotion versatility introduced by the eccentric distance between the paddle shaft and the wheel center. We demonstrate this versatility by proposing five typical gaits for traveling on different terrains. For instance, wheeled rolling gait is used to achieve high-speed locomotion on even terrain. Legged gait is applied to travel on the rough terrains. To access the soft terrains where wheels slip and legs sink, a wheel-leg-integrated gait is performed by digging the paddle into the ground. To swim in the water, rotational paddling and oscillating paddling gaits are proposed. For each of these gaits, standard gait sequence is defined and joint parameters are calculated based on kinematics. An ePaddle prototype is then built and tested with the proposed gait sequences. Experimental results verify the design of the ePaddle mechanism as well as its versatile gaits.

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“…The major portion of the previous research has concentrated on strengthening mobility within an unstructured environment. Consequently, various approaches to realize stable quasistatic locomotion have been suggested, such as introducing compliances in the design of legs [2], optimizing contact forces [3], utilizing variable mechanisms [4] [5], estimating wheel-terrain contact angles [6], decoupling a control procedure for the posture and trajectory [7], calculating balancing wheel torques [8], adopting walking algorithm of legs [9], and minimizing the number of drive shafts for practical reasons [10], to name a few. While only a few studies have kwonds@kaist.ac.kr been accomplished for the second part of problems except for considering turning and breaking motions [11] and realizing bounding gates [12].…”

Section: Introductionmentioning

confidence: 99%

Zero-moment point based balance control of leg-wheel hybrid structures with inequality constraints of kinodynamic behavior

Kwon

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper discusses a balance control method with kinodynamic constraints for leg-wheel hybrid structures in an effort to improve the mobility of locomotion over hard, flat surfaces. Preliminarily, we defined a prioritized Jacobian and a prioritized inverse of Jacobian to formulate the dynamically decoupled model in the task space for the constrained multicontact multi-rigid-body system with a floating base. Our strategy has two tracks to accommodate the uncertainty and the complexity of the system dynamics. 1) The time-delay estimation and control are combined with the nonlinear programming. 2) Whole kinodynamic constraints are derived as functions of the control input. The proposed balance control algorithm allows the system to traverse desired trajectories satisfying the kinodynamic constraints and improves the mobility of locomotion. The effectiveness of the algorithm is tested with the dynamic simulations.

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Design of a leg-wheel hybrid mobile platform

Cited by 56 publications

References 16 publications

Stair Climbing in a Quadruped Robot

Stair Climbing in a Quadruped Robot

A versatile locomotion mechanism for amphibious robots: eccentric paddle mechanism

Zero-moment point based balance control of leg-wheel hybrid structures with inequality constraints of kinodynamic behavior

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