SLIP-Model-Based Dynamic Gait Generation in a Leg-Wheel Transformable Robot With Force Control

Lin, Yun-Meng; Lin, Hung-Yeh; Lin, Pei-Chun

doi:10.1109/lra.2017.2653363

Cited by 21 publications

(10 citation statements)

References 17 publications

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“…9–11 The rotation of the wheel and extension of the limbs are decoupled movements, so it is not necessary that both motors work when the wheel is in the circular form. 16 In addition, by using two actuators it is possible to control the leg extension while the wheel is spinning, this is not possible with wheels that have only one actuator. 8 The actuators are placed into the chassis of the vehicle.…”

Section: R Subfamily Of the Heise Wheelsmentioning

confidence: 99%

“…Some designs of fully actuated VGLWs have been reported in the literature. 12–16 Nagatani et al. 12 presented a wheel with six deployable limbs based on pantograph mechanisms.…”

Section: Introductionmentioning

confidence: 99%

“…Another design of VGLW was presented by Lin et al. 16 In this design, a wheel with two legs is obtained making its two halves move in the radial and opposite directions. In this device, a rack and pinion mechanism is used to perform the transformation.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Kinematic analysis of the R subfamily of the HeIse wheels

Avalos

Calderón

Lugo

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, the kinematic analysis of a series of variable geometry legged wheels is presented. These mechanisms can transform a circular wheel into a hybrid legged wheel in order to combine the efficiency and ability to traverse difficult terrain of each method of locomotion. The inverse and direct kinematic problems of position and velocity are stated and solved. Then, a singularity analysis of the mechanisms is performed. The geometrical conditions that make the Jacobian matrices of the wheels singular are determined and interpreted. Subsequently, an exploration of the workspace is presented to show kinematic features of the wheels inside their operation region.

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Section: R Subfamily Of the Heise Wheelsmentioning

confidence: 99%

“…Some designs of fully actuated VGLWs have been reported in the literature. 12–16 Nagatani et al. 12 presented a wheel with six deployable limbs based on pantograph mechanisms.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Kinematic analysis of the R subfamily of the HeIse wheels

Avalos

Calderón

Lugo

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

show abstract

“…There is a nonconstant transmission between the knee joint and the parallel spring. It creates an effective prismatic spring between the foot and the hip with constant stiffness, resembling the spring linear inverted pendulum (SLIP) model [38]. The strategy to design Phides' running is based on swing-leg retraction (SLR) [39].…”

Section: Humanoid European Robotsmentioning

confidence: 99%

Historical Perspective of Humanoid Robot Research in Europe

Aoustin

Chevallereau

Laumond

2017

Humanoid Robotics: A Reference

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“…The optimized Rocker‐Bogie mechanism (D. Kim et al, 2012) uses the front bogie lifting the front wheels to achieve the stair height. TurboQuad (Lin et al, 2017), Turbo‐Leg compound robot (Zhou et al, 2019), LDR (Bai et al, 2018), and Turbo‐Leg robot (Ning et al, 2017; Sun et al, 2017) use linkages to turn wheels into legs to climb steps or stairs. The parallel robot designed by Li et al (2018) connected the wheels through the bars into a closed loop, which “multi‐wheel‐bar connection” fragments step‐climbing motion into simple repetitive action.…”

Section: Introductionmentioning

confidence: 99%

Mechanical design and wheel–leg–body cooperation control of a step‐climbing robot

Liu

Zhang

et al. 2022

Journal of Field Robotics

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This paper proposes the mechanical design and wheel-leg-body cooperation control of a robot capable of climbing stairs for the RoboMaster competition. The robot is comprised of a robot body and four legs with wheels on each end. The front and hind legs composed of the linkages and sliders complete the climbing stairs motion under the coordination of the motors and the cylinders. The dynamic stair-climbing motion is realized by control the wheel speed and leg motion corresponding to the body motion of the robot relative to the stair environment. Compared with the common split stair climbing designed, the robot can dynamically climb the stairs without losing the forward speed, which makes climbing stairs more smoothly while retaining the ability to move on the flat. Experimental results demonstrate that the robot can climb stairs with a riser height up to 20 cm and a tread depth more than 80 cm. And the process of climbing each stair is reduced to 1-2 s.

show abstract

SLIP-Model-Based Dynamic Gait Generation in a Leg-Wheel Transformable Robot With Force Control

Cited by 21 publications

References 17 publications

Kinematic analysis of the R subfamily of the HeIse wheels

Kinematic analysis of the R subfamily of the HeIse wheels

Historical Perspective of Humanoid Robot Research in Europe

Mechanical design and wheel–leg–body cooperation control of a step‐climbing robot

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