Realization by Biped Leg-wheeled Robot of Biped Walking and Wheel-driven Locomotion

Hashimoto, Kenji; Hosobata, Takuya; Sugahara, Yusuke; Mikuriya, Y.; Sunazuka, H.; Kawase, M.; Lim, Hun-ok; Takanishi, Atsuo

doi:10.1109/robot.2005.1570565

Cited by 42 publications

(32 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…al. [7] are capable of rolling on their wheels like a car and stepping like a biped with locked wheels. Itabashi et.…”

Section: Introductionmentioning

confidence: 99%

“…These passive skating bipeds have the ability to roll on wheels but they cannot control their wheels directly. Neither the passive skating bipeds [8] nor the active wheeled bipeds [7], [11] exploit the full potential of the hybrid platform since they do not consider sliding while walking.…”

Section: Introductionmentioning

confidence: 99%

“…Sliding-while-walking motion is a combination of the efficiency of rolling and the versatility of walking. While active wheeled bipeds will require more sophisticated control strategies when compared to those used by [11], [7], and [8], the added complexity could enable slip rejection in wheeled bipedal robots. A simple, active biped design based on McGeer's Synthetic Wheel [12] was used for the development of the control methods for this hybrid motion.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Active sliding synthetic wheel biped

Crayne

Mathis

Mukherjee

2014

2014 American Control Conference

View full text Add to dashboard Cite

The active sliding synthetic wheel biped proposed in this paper is a modification of the active synthetic wheel biped (SWB) developed previously. The SWB rolls on its arcshaped feet and steps to transition between feet which results in walking. In this paper, we allow the SWB to slide while walking which provides an additional mode of locomotion. Partial feedback linearization is used to track desired trajectories during each step and chaos control is used to stabilize the biped's motion over multiple steps to a desirable periodic gait. Numerical simulations are used to determine the configurations in which the biped will step and to validate the efficacy of the hybrid control method. It is shown that the biped is capable of starting from rest and stabilizing to a periodic gait that involves sliding while walking.

show abstract

“…al. [7] are capable of rolling on their wheels like a car and stepping like a biped with locked wheels. Itabashi et.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Active sliding synthetic wheel biped

Crayne

Mathis

Mukherjee

2014

2014 American Control Conference

View full text Add to dashboard Cite

show abstract

“…The majority of previous research has concentrated on the first part of problems. Accordingly, various methods of implementing the stable quasi-static locomotion have been suggested, such as introducing compliances in the design of legs [2], optimizing contact forces [3], utilizing variable mechanisms [4], estimating wheel-terrain contact angles [5], decoupling a control procedure for the posture and trajectory [6], calculating balancing wheel torques [7], and adopting walking algorithm of legs [8], to name a few. However, for all its importance, only a few studies have been conducted for the second part of problems except for considering turning and breaking motions [9] and realizing bounding gates [10].…”

Section: Introductionmentioning

confidence: 99%

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

Kwon

2012

2012 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

This paper discusses an unified method of the tracking and balancing controls for leg-wheel hybrid structures in an effort to improve the mobility over hard, flat surfaces. Preliminarily, we analyzed the contact constraint to formulate a dynamically decoupled model in the task space. Then, inequality constraints were determined to restrict the dynamic behavior of the system within the given bounds for the dynamic stability and the actuator saturation. The inequality constraints were applied to the reference control input that was designed for the mechanism to traverse the desired trajectories without the constraints. To find the constrained control input, a quadratic objective function was proposed to minimize the modification error of the control inputs. We tested the effectiveness of the proposed algorithm by comparing simulation results with our previous research.

show abstract

“…For example, WorkPartner is a quadruped system that can detect the type of surface on which a robot is moving, whether it is even or uneven, and can then choose the type of locomotion to use accordingly (bipedal or wheeled) [3]. An additional example of hybrid locomotion is WS-2/ WL-16 (Waseda Shoes -Number 2 / Waseda LegNumber 16) [4] which also combines bipedal walking with wheeled locomotion. DC Motorized wheels are used for both WorkPartner and WS-2/WL-16.…”

Section: Introductionmentioning

confidence: 99%

Inline skating motion generator with passive wheels for small size humanoid robots

Ziv¹,

Lee²,

Ciaravella³

2010

2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

View full text Add to dashboard Cite

significant research has been done for bipedal walking and progress has been made, such as the ASIMO robot from Honda. However, although bipedal walking is an efficient solution for movement over uneven surfaces; conversely, bipedal robot walking is inefficient over an even surface because of speed and stability limitations. As a result, using a wheeled locomotion rather than a bipedal method could be ideal when movement across even surfaces is required. This paper focuses on a wheeled biped robot with two passive wheels on each foot. The robot's design allows for movement that is more efficient across even surfaces, but also produces a greater human-like inline-skating motion than previously produced inline-skating simulations.978-1-4244-8030-2/10/$26.00 ©2010 IEEE

show abstract

Realization by Biped Leg-wheeled Robot of Biped Walking and Wheel-driven Locomotion

Cited by 42 publications

References 14 publications

Active sliding synthetic wheel biped

Active sliding synthetic wheel biped

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

Inline skating motion generator with passive wheels for small size humanoid robots

Contact Info

Product

Resources

About