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
  • [41] Walking dynamic analysis of semi-passive biped robot under impulse thrust
    Zhou G.-F.
    Jiang B.
    Jiang G.-R.
    Kongzhi yu Juece/Control and Decision, 2023, 38 (11): : 3184 - 3191
  • [42] Walking control for a compass-like biped robot under variable gravity based on passive dynamic walking
    Matsumoto, Yusuke
    Ikeda, Tatsuhiko
    Narukawa, Terumasa
    Takahashi, Masaki
    Matsumoto, Y., 2012, Japan Society of Mechanical Engineers (78): : 2496 - 2508
  • [43] Uphill and level walking of a three-dimensional biped quasi-passive walking robot by torso control
    Cao, Ying
    Suzuki, Soichiro
    Hoshino, Yohei
    ROBOTICA, 2016, 34 (03) : 483 - 496
  • [44] Development of a biped walking robot having antagonistic driven joints using nonlinear spring mechanism
    Yamaguchi, J
    Takanishi, A
    1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4, 1997, : 185 - 192
  • [45] ACTIVE/PASSIVE HYBRID MECHANISM FOR BIPED WALKING
    Koganezawa, Koichi
    Takahashi, Masahiro
    Ochi, Hiroshi
    EMERGING TRENDS IN MOBILE ROBOTICS, 2010, : 483 - 492
  • [46] ON PASSIVE MOTION OF THE ARMS FOR A WALKING PLANAR BIPED
    Kaddar, Bassel
    Aoustin, Yannick
    Chevallereau, Christine
    ADAPTIVE MOBILE ROBOTICS, 2012, : 335 - 342
  • [47] A Hip Actuated Passive Dynamic Walking Biped
    Stopforth, Riaan
    Bright, Glen
    Feng, Chun-tsung
    2013 IEEE EUROCON, 2013, : 1905 - 1910
  • [48] From Passive Dynamic Walking to Passive Turning of Biped walker
    Sabaapour, M. R.
    Yazdi, M. R. Hairi
    Beigzadeh, B.
    JOURNAL OF COMPUTATIONAL APPLIED MECHANICS, 2016, 47 (01): : 25 - 34
  • [49] Walking trajectory modeling of biped robot "Archi" for stable walking
    Mehmeti, Xh.
    Karahoda, B.
    Kopacek, P.
    IFAC PAPERSONLINE, 2016, 49 (29): : 83 - 87
  • [50] Piezoelectric energy harvesting from walking motion of a passive biped robot model with flexible legs
    Safartoobi, Masoumeh
    Dardel, Morteza
    Daniali, Hamidreza Mohammadi
    CHAOS SOLITONS & FRACTALS, 2024, 188
12345