Design and gait control of a rollerblading robot

Author

Chitta, Sachin ; Heger, Frederik W. ; Kumar, Vijay

Author_Institution

GRASP Lab., Pennsylvania Univ., USA

Volume

4

fYear

2004

fDate

April 26-May 1, 2004

Firstpage

3944

Abstract

We present the design and gait generation for an experimental ROLLERBLADER. The ROLLERBLADER is a robot with a central platform mounted on omnidirectional casters and two 3 degree-of-freedom legs. A passive rollerblading wheel is attached to the end of each leg. The wheels give rise to nonholonomic constraints acting on the robot. The legs can be picked up and placed back on the ground allowing a combination of skating and walking gaits. We present two types of gaits for the robot. In the first gait, we allow the legs to be picked up and placed back on the ground while in the second, the wheels are constrained to stay on the ground at all tunes. Experimental gait results for a prototype robot are also presented.

Keywords

control system analysis computing; gait analysis; legged locomotion; prototypes; 3 degrees of freedom; control system analysis computing; gait control; nonholonomic constraints; omnidirectional casters; passive rollerblading wheel; rollerblading robot design; skating gaits; walking gaits; Electronic mail; Laboratories; Leg; Legged locomotion; Mobile robots; Power generation; Prototypes; Shape; Switches; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1308885

Filename

1308885