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
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