제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2001년도 ICCAS
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- Pages.147.5-147
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- 2001
Predictive Motion Control Method for Continuous Locomotion of Leg-Wheel Robot
- Masatoshi Kumagai (Eiji Nakano Tohoku Univ.) ;
- Takayuki Takahashi (Eiji Nakano Tohoku Univ.) ;
- Wang, Zhi-Dong (Eiji Nakano Tohoku Univ.) ;
- Michihiko Shoji (Eiji Nakano Tohoku Univ.)
- 발행 : 2001.10.01
초록
This paper describes a gait algorithm and a velocity limitation method for a Leg-Wheel Robot. The gait algorithm enables the robot to preserve continuous locomotion even if the velocity command varies extensively. The velocity limitation method restricts the commanded velocity when it exceeds the mechanical limitation of the robot. Combined use of the velocity limitation method with the gait algorithm ensures the continuity of locomotion, and makes the gait pattern efficient with a long step length and low frequency of leg phase change. These methods can be applied to locomotion on unexplored rough terrain even if the range of roughness is unknown.
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