DocumentCode
146350
Title
A control method of low speed wheeled locomotion for a wheel-legged mobile robot
Author
Nagano, Kotaro ; Fujimoto, Yasutaka
Author_Institution
Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan
fYear
2014
fDate
14-16 March 2014
Firstpage
332
Lastpage
337
Abstract
This paper discusses problems in low speed wheeled locomotion of wheel-legged mobile robot. We show the kinematic constraints of the acceleration level for wheel-legged mobile robot performs the motion generation. Next, we describe singular configuration problems that occur in low speed wheeled locomotion. The damped least squares method is applied to solve this problem. The effectiveness of the solution is validated by three-dimensional simulations.
Keywords
least squares approximations; legged locomotion; motion control; robot kinematics; acceleration level; damped least square method; kinematic constraint; low speed wheeled locomotion; motion generation; singular configuration problem; wheel-legged mobile robot; Acceleration; Kinematics; Legged locomotion; Vectors; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control (AMC),2014 IEEE 13th International Workshop on
Conference_Location
Yokohama
Type
conf
DOI
10.1109/AMC.2014.6823304
Filename
6823304
Link To Document