Study of Control Algorithm for Wheeleg Robot Walking in Unknown Rough Terrains

Xin Liu; Qing Wei; Jian Wang; Lin Lang

doi:10.4028/www.scientific.net/AMM.543-547.1442

Paper Titles

Design and Simulation of an Improved Five Redundancy GNC System Architecture
p.1423

Design of Automatic Programming Controller Based on Milling Feature
p.1428

The Application of Fuzzy Control in Greenhouse Environment Control
p.1432

Research on Control Strategies of Hydraulic ABS Wheel Cylinder Pressure Fine Regulation
p.1436

Study of Control Algorithm for Wheeleg Robot Walking in Unknown Rough Terrains
p.1442

Global Stabilization of Nonlinear Control Systems
p.1447

The Project of Expressway Intelligent Lighting System
p.1453

The Application Status and Prospects of Vibration Control Technology for Large Packaged Power Equipment
p.1457

Tunable Stiffness and Damping Vibration Control Strategy Based on Magnetorheological Elastomer Isolator
p.1461

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 543-547Study of Control Algorithm for Wheeleg Robot...

Study of Control Algorithm for Wheeleg Robot Walking in Unknown Rough Terrains

Abstract:

This paper presents three algorithms to control the motion of wheeleg robot in unknown rough terrains. First, on the basis of the wheeleg robot, we establish the plane geometry model. By this way, we can easily derive the kinematics and dynamics equations. Based on these equations, we design the control strategy, include three algorithms: posture control, force compensation control and force control. We lay emphasis on researching force control. Then, dynamic simulation of the wheeleg robot is performed in unknown rough terrains to verify the proposed algorithms. Finally, analysing and comparing the three algorithms, and drawing the conclusion.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 543-547)

Pages:

1442-1446

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.543-547.1442

Citation:

Cite this paper

Online since:

March 2014

Authors:

Xin Liu*, Qing Wei, Jian Wang, Lin Lang

Keywords:

Force Control, Simulation, Unknown Rough Terrains, Wheeleg Robot

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

* - Corresponding Author

References

[1] Gan Dongying, Gan Jianguo, Recitation on walking robot, Mechanical engineering, 1990, (4).

Google Scholar

[2] N. Farve, Design of a low-mass high-torque brushless motor for application in quadruped robotics, " Master, s thesis, Massachusetts Institute of Technology, (2012).

Google Scholar

[3] Y.J. Dai, E. Nakano, T. Takahashi, and H. Ookubo, Motion control leg-wheel robot for an unexplored outdoor environment, inProc. 1996 IROS Intelligent Robots and Systems, 1996, p.402(R) C409.

DOI: 10.1109/iros.1996.570803

Google Scholar

[4] Salvatore Guccione, Giovanni Muscato, The Wheeleg Robot, IEEE Robotics & Automation Magazine, (2003).

Google Scholar

[5] Cagnina M, Muscato G, Sinatra R, Kinematics, dynamics and control of a hybrid robot Wheeleg, Robotics and autonomous systems, 2003, 45(3-4): 161-1.

DOI: 10.1016/j.robot.2003.09.006

Google Scholar

[6] O. Matsumoto, S. Kajita, M. Saigo, and K. Tani, Dynamic trajectory control of passing over stairs by a biped leg-wheeled robot with nominal reference of static gait, Intelligent Robot and Systems, 1998, pp.406-412.

DOI: 10.1109/iros.1998.724653

Google Scholar

[7] Arikawa K, Hirose S, Development of Quadruped Walking Robot TITAN-VIII, IEEE Int. Conf. on Intelligent Robots and Systems, 1996: 208 –214.

DOI: 10.1109/iros.1996.570670

Google Scholar

[8] N. Farve, Design of a low-mass high-torque brushless motor for application in quadruped robotics, " Master, s thesis, Massachusetts Institute of Technology, (2012).

Google Scholar