Swizzle Movement for Biped Walking Robot Having Passive Wheels

被引：4
|
作者：
Hashimoto, Kenji [1 ]
Sugahara, Yusuke [2 ]
Lim, Hun-ok [3 ,5 ]
Takanishi, Atsuo [4 ,5 ]
机构：
[1] Waseda Univ, Grad Sch Sci & Engn, Shinjuku Ku, 3-4-1 Ookubo, Tokyo 1698555, Japan
[2] Tohoku Univ, Dept Bioengn & Robot, Aoba Ku, Sendai, Miyagi 9808579, Japan
[3] Kanagawa Univ, Dept Mech Engn, Kanagawa Ku, Yokohama, Kanagawa 2218686, Japan
[4] Waseda Univ, Dept Modern Mech Engn, Shinjuku Ku, Tokyo 1698555, Japan
[5] Waseda Univ, HRI, Shinjuku Ku, Tokyo 1620044, Japan
来源：
JOURNAL OF ROBOTICS AND MECHATRONICS | 2008年 / 20卷 / 03期
关键词：
biped walking; sliding motion; passive wheeled locomotion; inline skating; swizzle movement;
D O I：
10.20965/jrm.2008.p0413
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Biped walking is easily adapted to rough terrain such as stairs and stony paths, but speed and energy efficiency on flat surfaces is less effective than wheeled locomotion. We propose new control for swizzling by biped walking robots using inline skates. Swizzling uses friction force generated by regular passive wheel movement. Our proposal is based on the reaction force on the foot, and new reference position is changed based on reaction force not to be large internal force. Through hardware experiments, the effectiveness of the proposed method was confirmed.
引用
收藏
页码：413 / 419
页数：7
相关论文
共 50 条
  • [1] A BIPED TRANSPORTER ROBOT BASED ON PASSIVE WALKING
    Iwatsuki, Kazuki
    Sano, Akihito
    Ikemata, Yoshito
    Tamegai, Satoshi
    Fujimoto, Hideo
    EMERGING TRENDS IN MOBILE ROBOTICS, 2010, : 706 - 713
  • [2] Simulation of Semi-Passive Dynamic Walking For Biped Walking Robot
    Omer, Aiman Musa A.
    Ghorbani, Reza
    Lim, Hun-ok
    Takanishi, Atsuo
    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4, 2009, : 360 - +
  • [3] On biped walking of humanoid robot based on movement similarity
    Ke W.
    Cui G.
    Hong B.
    Cai Z.
    Yuan Q.
    Jiqiren/Robot, 2010, 32 (06): : 766 - 772
  • [4] Passive/active unified walking control for biped walking robot (1st report, development of passive/active unified actuator and applying to biped walking robot)
    Department of Mechanical and Control Engineering System, Tokyo Institute of Technology, 2-12 1 13-11 Ookayama, Meguro-ku, Tokyo, 152-8552, Japan
    Nihon Kikai Gakkai Ronbunshu C, 2007, 10 (2765-2773):
  • [5] Study and development of the biped ice-skater robot with passive wheels
    Xu, Zili
    Lu, Tiansheng
    Xu, Zhenhua
    Song, Libo
    Zhongguo Jixie Gongcheng/China Mechanical Engineering, 2007, 18 (16): : 1921 - 1924
  • [6] Development and motion control of a biped walking robot based on passive walking theory
    Lee, Jae Hoon
    Okamoto, Shingo
    Koike, Hisashi
    Tani, Keiya
    ARTIFICIAL LIFE AND ROBOTICS, 2014, 19 (01) : 68 - 75
  • [7] Passive dynamic walking of a biped robot with torso and its stabilizer
    Feng, Shuai
    Sun, Zeng-Qi
    Beijing Keji Daxue Xuebao/Journal of University of Science and Technology Beijing, 2012, 34 (01): : 59 - 64
  • [8] Passive walking biped robot model with flexible viscoelastic legs
    Safartoobi, Masoumeh
    Dardel, Morteza
    Daniali, Hamidreza Mohammadi
    NONLINEAR DYNAMICS, 2022, 109 (04) : 2615 - 2636
  • [9] Influence of mass and length of biped robot on its passive walking
    Shah, Nita H.
    Yeolekar, Mahesh A.
    INTERNATIONAL JOURNAL OF APPLIED NONLINEAR SCIENCE, 2016, 2 (04) : 235 - 246
  • [10] Passive walking biped robot model with flexible viscoelastic legs
    Masoumeh Safartoobi
    Morteza Dardel
    Hamidreza Mohammadi Daniali
    Nonlinear Dynamics, 2022, 109 : 2615 - 2636
12345