Title :
Development of a leg-wheel hybrid mobile robot and its step-passing algorithm
Author :
Adachi, Hironori ; KOYACHI, Noriho
Author_Institution :
Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan
Abstract :
Describes the development of a leg-wheel hybrid mobile robot and its step-passing algorithm. The authors have been developing a mobile robot named "Walk\´n Roll". It has a leg-wheel hybrid locomotion mechanism. The robot has four legs, and a wheel is attached at the end of each leg. Legged locomotion has high adaptability for rough terrain, and wheeled locomotion possesses speed and efficiency. One of the obstacles that a wheeled vehicle can not pass is a step. A control algorithm for the leg-wheel hybrid mobile robot to pass a step is considered. The developed algorithm is implemented on Walk\´n Roll, and is evaluated experimentally
Keywords :
legged locomotion; motion control; position control; stability; Walk´n Roll; leg-wheel hybrid mobile robot; legged locomotion; rough terrain; step-passing algorithm; wheeled locomotion; Actuators; Automatic control; Leg; Legged locomotion; Mobile robots; Robot sensing systems; Robotics and automation; Service robots; Vehicles; Wheels;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976255
