TY - JOUR
T1 - Adaptive gait for dynamic rotational walking motion on unknown non-planar terrain by limb mechanism robot ASTERISK
AU - Theeravithayangkura, Chayooth
AU - Takubo, Tomohito
AU - Ohara, Kenichi
AU - Mae, Yasushi
AU - Arai, Tatsuo
PY - 2013
Y1 - 2013
N2 - An adaptive gait is proposed for dynamic rotational walking motion of multi-legged mobile robots by utilizing body angle compensation and the center of mass height control. Posture control is used to further enhance the robustness and stability of the robot based on a posture optimization database. The database is created by using a genetic algorithms in order to find the most suitable posture for each virtual plane created during body compensation in adaptive gait control. Additionally, the stability of the robot is controlled by online zero-moment point compensation and compliance control. In order to test the robustness of motion, experiments are divided into three parts: inclined-plane (linear variation), step (step variation), and obstacle (impulse variation). As a result of this research, with the proposed method, the robot could walk up and down inclined-planes with angles of 6.8° and 5.6°, respectively, and walk up and down a step and over an obstacle with a height of 20 mm.
AB - An adaptive gait is proposed for dynamic rotational walking motion of multi-legged mobile robots by utilizing body angle compensation and the center of mass height control. Posture control is used to further enhance the robustness and stability of the robot based on a posture optimization database. The database is created by using a genetic algorithms in order to find the most suitable posture for each virtual plane created during body compensation in adaptive gait control. Additionally, the stability of the robot is controlled by online zero-moment point compensation and compliance control. In order to test the robustness of motion, experiments are divided into three parts: inclined-plane (linear variation), step (step variation), and obstacle (impulse variation). As a result of this research, with the proposed method, the robot could walk up and down inclined-planes with angles of 6.8° and 5.6°, respectively, and walk up and down a step and over an obstacle with a height of 20 mm.
KW - Adaptive gait
KW - Dynamic
KW - Legged-robot
KW - Mobile robot
UR - http://www.scopus.com/inward/record.url?scp=84874038956&partnerID=8YFLogxK
U2 - 10.20965/jrm.2013.p0172
DO - 10.20965/jrm.2013.p0172
M3 - Article
AN - SCOPUS:84874038956
SN - 0915-3942
VL - 25
SP - 172
EP - 182
JO - Journal of Robotics and Mechatronics
JF - Journal of Robotics and Mechatronics
IS - 1
ER -