Study on Roller-Walk (basic characteristics and its control)

Author

Hirose, Shigeo ; Takeuchi, Hiroki

Author_Institution

Dept. of Mechano-Aerosp. Eng., Tokyo Inst. of Technol., Japan

Volume

4

fYear

1996

fDate

22-28 Apr 1996

Firstpage

3265

Abstract

A new leg-wheel hybrid vehicle named “Roller-Walker” is proposed. The Roller-Walker is a vehicle with special foot mechanism which changes to the sole for walking mode and passive wheels for wheel mode. On rugged terrain the vehicle walks in the leg mode, and on level or comparatively smooth terrain the vehicle makes wheeled locomotion by using the passive wheel in the way of roller-skating. The characteristics of the Roller-Walker are: (1) it has lightweight body and hybrid function; (2) it has potential capability to exhibit high terrain adaptability in the wheeled mode if the control method of the Roller-Walking is fully investigated in the future. The paper makes basic simulation experiments and demonstrates basic relations on the terrain adaptive trajectory control method of the Roller-Walk

Keywords

legged locomotion; position control; Roller-Walk; leg-wheel hybrid vehicle; passive wheel; roller-skating; rugged terrain; smooth terrain; terrain adaptive trajectory control method; Actuators; Energy efficiency; Foot; Leg; Legged locomotion; Manipulator dynamics; Mobile robots; Solenoids; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.509210

Filename

509210