The stable wheeled locomotion in low speed region for a wheel-legged mobile robot

Nagano, Kenta; Fujimoto, Yasutaka

doi:10.1109/icmech.2015.7084010

Cited by 9 publications

(2 citation statements)

References 16 publications

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“…Authors in [11] [12] used the ZMP index to generate the robot centroidal translational motion pattern to follow the ZMP reference in 2D and 3D space respectively. [13] extended the work in [12] and achieve the contact kinematics in the acceleration level. However, the legs in above works are always assumed to be massless, this can not be accepted since the robot CoM should combine all body mass and inertias, which constitute the whole-body dynamics model and influence the motion generation, and the wheel motion can conflict the legged suspension.…”

Section: Introductionmentioning

confidence: 99%

Rolling based locomotion on rough terrain for a wheeled quadruped using centroidal dynamics

Fnadi

Benamar

2020

Mechanism and Machine Theory

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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 kinematics model. Then the wheel motion generator is developed by combining both the kinematics model and the robot centroidal momentum/dynamics model. The models are decomposed into three components relating to the base motion, the legged motion and the wheel motion. The adaptive wheel motion references are derived in a detailed mathematical way and several algorithms are developed for the model decompositions. Finally, the robot is simulated to be driven on various rough terrains using the operational space control framework mixed with our proposed compatible prioritized impedance controller. The required torque for multiple tasks is generated by the feed-forward and feedback controllers while fulfilling the contact constraints.

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Section: Introductionmentioning

confidence: 99%

Rolling based locomotion on rough terrain for a wheeled quadruped using centroidal dynamics

Fnadi

Benamar

2020

Mechanism and Machine Theory

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“…Previous work [5]- [7] explored kinematic motion planning, where the robot is controlled like a mobile vehicle and the legs act as a suspension. By definition these techniques do not consider the dynamics of the system.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Control of a Hybrid Wheeled Jumping Robot

Dinev

Xin

Merkt

et al. 2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright position after the loss of balance. We propose a template model for the class of such two-wheeled jumping robots. This model can be considered as the simplest wheeled-legged system. We provide an analytical derivation of the system dynamics which we use inside a model predictive controller (MPC). We study the behavior of the model and demonstrate highly dynamic motions such as swing-up and jumping. Furthermore, these motions are discovered through optimization from first principles. We evaluate the controller on a variety of tasks and uneven terrains in a simulator.

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