Title :
A control method of low speed wheeled locomotion for a wheel-legged mobile robot
Author :
Nagano, Kotaro ; Fujimoto, Yasutaka
Author_Institution :
Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan
Abstract :
This paper discusses problems in low speed wheeled locomotion of wheel-legged mobile robot. We show the kinematic constraints of the acceleration level for wheel-legged mobile robot performs the motion generation. Next, we describe singular configuration problems that occur in low speed wheeled locomotion. The damped least squares method is applied to solve this problem. The effectiveness of the solution is validated by three-dimensional simulations.
Keywords :
least squares approximations; legged locomotion; motion control; robot kinematics; acceleration level; damped least square method; kinematic constraint; low speed wheeled locomotion; motion generation; singular configuration problem; wheel-legged mobile robot; Acceleration; Kinematics; Legged locomotion; Vectors; Wheels;
Conference_Titel :
Advanced Motion Control (AMC),2014 IEEE 13th International Workshop on
Conference_Location :
Yokohama
DOI :
10.1109/AMC.2014.6823304
