TY - GEN
T1 - Online locomotion planner for wheeled quadrupedal robot using deviation based scheduler
AU - Zhang, Zhihao
AU - Meng, Fei
AU - Wang, Lei
AU - Kang, Ru
AU - Gu, Sai
AU - Liu, Botao
AU - Fan, Xuxiao
AU - Ming, Aiguo
AU - Huang, Qiang
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/3
Y1 - 2021/7/3
N2 - Wheel-legged robots have the potential of highly dynamic locomotion. The development of Wheel-legged robots might extend the capabilities and provide a solution to the challenges of legged robots. We first modeled our self-developed quadruped experimental platform and expanded our previous work. For the scene of long-range and high-speed movement, we propose a deviation-based online locomotion planner to improve the efficiency and stability of a wheeled quadrupedal robot by reducing unnecessary steps. In the process, relative deviation values are obtained by comparing the ideal foothold reference with the actual wheel position and used to generate locomotion commands. With a control framework of robot locomotion based on a whole-body controller, the robot can move stably for a long distance in the simulation environment. The simulation results also show that compared with the time-based scheduler, this approach has advantages in efficiency and stability.
AB - Wheel-legged robots have the potential of highly dynamic locomotion. The development of Wheel-legged robots might extend the capabilities and provide a solution to the challenges of legged robots. We first modeled our self-developed quadruped experimental platform and expanded our previous work. For the scene of long-range and high-speed movement, we propose a deviation-based online locomotion planner to improve the efficiency and stability of a wheeled quadrupedal robot by reducing unnecessary steps. In the process, relative deviation values are obtained by comparing the ideal foothold reference with the actual wheel position and used to generate locomotion commands. With a control framework of robot locomotion based on a whole-body controller, the robot can move stably for a long distance in the simulation environment. The simulation results also show that compared with the time-based scheduler, this approach has advantages in efficiency and stability.
UR - http://www.scopus.com/inward/record.url?scp=85116211571&partnerID=8YFLogxK
U2 - 10.1109/ICARM52023.2021.9536161
DO - 10.1109/ICARM52023.2021.9536161
M3 - Conference contribution
AN - SCOPUS:85116211571
T3 - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
SP - 735
EP - 740
BT - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
Y2 - 3 July 2021 through 5 July 2021
ER -
