Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Development of a Service Hybrid Mobile Robot for Climbing Stairs and Thresholds by Switching Wheel and Leg Gait

바퀴/4 족 동작 전환으로 계단 및 문턱 오르기가 가능한 서비스 하이브리드 이동 로봇 개발

  • 김진백 (한국과학기술원 전자전산학과 전기전자) ;
  • 김병국 (한국과학기술원 전자전산학과 전기전자)
  • Published : 2007.11.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we developed a new hybrid mobile robot which can climb stairs and go over thresholds by crawl gait with embedded real-time control software. This robot is also categorized into hybrid robot that has advantages of wheeled mobile robot and legged mobile robot, but adopts gait feature of crocodile named belly crawl. We imitated the belly crawl using four legs of 2 DOF, four omni-directional wheels, and embedded control software which controls legs and wheels. This software is developed using RTAI/Linux, real-time drivers. As a result, the new hybrid mobile robot has crawl gait. Using this feature, the new hybrid mobile robot can climb stairs and go over thresholds just by path planning of each leg with size of stairs and thresholds, and computing the movement distance of robot body center without considering stability. The performance of our new hybrid mobile robot is verified via experiments.

Keywords

References

  1. Acroname Robotics, http://www.acroname.com
  2. Robomotio, http://www.robomotio.com
  3. K.-U. Scholl, B.Gassmann, and K. Berns, 'Locomotion of LAURON III in rough terrain,' Advanced Intelligent Mechatronics, Proc. of IEEE/ASME, Como, Italy, vol. 2, pp. 959-964, 2001
  4. Yoneda K. Hirose, S. and H. Tsukagoshi, 'TITAN VII: Quadruped walking and manipulating robot on a steep slope,' Robotics and Automation, Proc. of IEEE, Albuquerque, NM, USA, vol. 1, pp. 494-500, 1997
  5. Joel Chestnutt, Manfred Lau, German Cheung, James Kuffuer, Jessica Hodgins, and Takeo Kanade 'Footstep planning for the honda ASIMO humanoid,' Proc. of IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 629-634, 2005
  6. I.-W. Park, J.-Y. Kim, J. H. Lee, and J.-H. Oh 'Mechanical design of humanoid robot platform KHR-3(KAIST Humanoid Robot-3: HUBO),' Proc. of IEEE-RAS Internatinal Conference on Humanoid Robots, Tsukuba, Japan, pp. 321-326, 2005
  7. NASA Sojourner Rover http://mpfwww.jpl.nasa.gov/rover/sojourner.html
  8. F. Plumet Ch. Grand, F. Ben Amar and Ph. Bidaud, 'Stability control of a wheel-leg mini-rover,' in 5th International Conference on Climbing and Walking Robots, Paris, France, pp. 323-331, 2002
  9. F. Plumet Ch. Grand, F. Ben Amar and Ph. Bidaud, 'Decoupled control of posture and trajectory of the hybrid wheel-legged robot Hylos,' Robotics and Automation, Proc. of IEEE-ICRA International Conference, New Orleans, USA, vol. 5, pp. 5111-5116, 2004
  10. T. Arai A Shimiza H. Adachi, N. Koyachi and Y Nogami, 'Mechanism and control of a leg-wheel hybrid mobile robot,' IROS Proc. of IEEE/RSJ International Conference, Kyongju, South Korea, vol. 3, pp. 1792-1797, 1999
  11. P. J. McKerrow, Introduction to Robotics, Addison Wesley, 1991
  12. ROBOTIS, http://www.robotis.com
  13. DIAPM RTAI Programming Guide 1.0, 2000 http://www.rtai.org
  14. 김성진, 김병국, '전동 휠제어의 자율 주행을 위한 실시간 소프트웨어 구조의 개발' 제어.자동화.시스템 공학 논문지, vol. 10, no. 10, pp. 940-946, 2004
  15. Crocodilian Biology Database, http://www.flmnh.ufl.edu/cnhc/cbd-gb4.htm
  16. J. Pan and J. Cheng, 'Study of quadruped walking robot climbing and walking down slope,' Proc. IROS IEEF/RSJ International Workshop, Osaka, Japan, vol. 3, pp. 1531-1534, 1991
  17. B. Lantos I. Harmati and S. Payandeh, 'Stratified motion planning concept in stair-like environment,' RoMoCo Proc. of the Fourth International Workshop, Puszczykowo, Poland, pp. 259-264, 2004
  18. Lining Sun Bo Huang and Yufeng Luo, 'Statically balanced stair climbing gait research for a hybrid quadruped robot,' Mechatronics and Automation of IEEE International Conference, vol. 4, pp. 2067-2071, 2005