2020
DOI: 10.1016/j.mechmachtheory.2020.103984
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Rolling based locomotion on rough terrain for a wheeled quadruped using centroidal dynamics

Abstract: This paper proposes a new wheel motion generator to track the centroidal motion of one quadrupedon-wheel robot which has the ability to cross various rough terrains with the model based wholebody torque control. The generator is used to track the whole-robot centroidal motion reference. Firstly, the wheel contact model and the whole-body inverse kinematics model are derived using spatial vectors. The wheel motion is extracted out mathematically depending on the base and the legged motions, which serves as the … Show more

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Cited by 28 publications
(10 citation statements)
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“…As shown in Figure 2, the upper leg is driven by the hip joint BLDC actuator directly, the lower leg is driven by the knee joint actuator by the timing belt. Compared with some existing wheel-legged robot, the designed configuration of each wheel-legged system for the UWLHV has the hip flexion/extension joint, the knee flexion/extension joint, and the wheel forward/backward joint, excluding the hip abduction/adduction joint (Bjelonic et al, 2019; Du et al, Nov 2020). Based on the Denavit and Hartenberg method, the world frame is constructed which can be denoted as {X,Y,Z}, the frame system for the contact point of the front-left wheel and ground can be denoted as {fiX,fiY,fiZ} of the UWLHV, as shown in Figure 2.…”
Section: Vehicle Systems and Modellingmentioning
confidence: 99%
“…As shown in Figure 2, the upper leg is driven by the hip joint BLDC actuator directly, the lower leg is driven by the knee joint actuator by the timing belt. Compared with some existing wheel-legged robot, the designed configuration of each wheel-legged system for the UWLHV has the hip flexion/extension joint, the knee flexion/extension joint, and the wheel forward/backward joint, excluding the hip abduction/adduction joint (Bjelonic et al, 2019; Du et al, Nov 2020). Based on the Denavit and Hartenberg method, the world frame is constructed which can be denoted as {X,Y,Z}, the frame system for the contact point of the front-left wheel and ground can be denoted as {fiX,fiY,fiZ} of the UWLHV, as shown in Figure 2.…”
Section: Vehicle Systems and Modellingmentioning
confidence: 99%
“…Du et al. [17] present a model taking into account wheel mobility and rolling-based locomotion for a wheel-legged robot using centroidal dynamics. Wheel velocity and acceleration are derived by both the legged motion and the CoM translation motion reference.…”
Section: Introductionmentioning
confidence: 99%
“…Han et al [16] propose a unified kinematic modeling method for reconfigurable landing and roving probes with full consideration of six-dimensional foot-terrain interaction. Du et al [17] present a model taking into account wheel mobility and rolling-based locomotion for a wheel-legged robot using centroidal dynamics. Wheel velocity and acceleration are derived by both the legged motion and the CoM translation motion reference.…”
Section: Introductionmentioning
confidence: 99%
“…As the most widely type, wheeled vehicles have the competitive advantages of high maneuverability and low energy consumption, which limited in off-road and rough road driving scenarios. [2][3][4] The legged vehicles have the benefits of environmental adaptability and flexibility, which can achieve complex tasks such as crossing ditches and vertical obstacles. 5 However, the legged vehicles have some disadvantages, such as low mobility, low carrying capacity, and high energy consumption.…”
Section: Introductionmentioning
confidence: 99%
“…Each leg is composed of the higher leg, lower leg, and a wheel, and the wheel is mounted at the end of the lower leg. Compared with the other styles, 2,11,13 each leg of the UWLHVs has three joints, including the hip joint, the knee joint, and the wheel joint, excluding the hip abduction/adduction joint for the UWLHVs. Therefore, a hierarchical attitude control strategy for the UWLHVs is proposed in the paper.…”
Section: Introductionmentioning
confidence: 99%