Title :
Dynamic rolling-walk motion by limb mechanism robot ASTERISK
Author :
Theeravithayangkura, Chayooth ; Takubo, Tomohito ; Ohara, Kenichi ; Mae, Yasushi ; Arai, Tatsuo
Author_Institution :
Dept. of Syst. Innovations, Osaka Univ., Osaka, Japan
Abstract :
New dynamic rolling-walk motion for multi-legged robot is proposed. The motion is realized by using the isotropic leg arrangement and the dynamic center of mass (COM) control inspired by bipedal robots. In the new dynamic rolling-walk motion, the robot switches between two phases to achieve the motion; three legs supporting phase and two legs supporting phase. By using the Preview Control with table-cart model based on the bipedal robot technique, the robot´s COM motion is planned to achieve the dynamic motion. The Resolved Momentum Control is also implemented to manipulate the multi-links robot as a single mass model. We analyzed the required torque for the proposed Dynamic rolling-walk motion and simulated the motion in the dynamics simulator on Open Dynamic Engine (ODE) to confirm the feasibility.
Keywords :
legged locomotion; momentum; motion control; predictive control; robot dynamics; robot kinematics; torque; COM control; bipedal robot technique; dynamic center of mass control; dynamic rolling walk motion; dynamics simulator; isotropic leg arrangement; limb mechanism robot asterisk; multilegged robot; multilinks robot; open dynamic engine; preview control; resolved momentum control; single mass model; table cart model; three legs supporting phase; torque; two legs supporting phase; Analytical models; Engines; Leg; Legged locomotion; Motion analysis; Motion control; Robots; Switches; Torque; Weight control; Dynamic walking; Dynamics simulation; Hexapod; Legged-robot;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5244960
