TY - GEN
T1 - Rotation control of polygonal prism by multi-legged robot
AU - Takeo, Gaku
AU - Takubo, Tomohito
AU - Ohara, Kenichi
AU - Mae, Yasushi
AU - Arai, Tatsuo
PY - 2010
Y1 - 2010
N2 - Rotation is one of efficient transportation methods for big or heavy object. For implementing the rolling operation to the small and light weight robot, it is necessary to consider the movable range of the robot, balance, actuator power and friction control. In this paper, we propose a new method of forward and backward rolling manipulation by using whole body motion for multi-legged robot. To control the balance, the weight shift control considering the Imaginary Zero Moment Point (IZMP) of the object is implemented. When the IZMP is beside the support polygon of the object, the object has rotational force. The rotational force is controlled by the force from the robot, and it can be manipulated by controlling the robot's CoM position and the internal force generated by joint actuators. The internal force can adjust the rotational force but it should be generated considering the friction forces between the object and the floor etc. We analyze available internal force with friction by kinematic solution, and it is implemented to the small multi-legged robot by using position and torque control. The effectiveness is confirmed through experiments.
AB - Rotation is one of efficient transportation methods for big or heavy object. For implementing the rolling operation to the small and light weight robot, it is necessary to consider the movable range of the robot, balance, actuator power and friction control. In this paper, we propose a new method of forward and backward rolling manipulation by using whole body motion for multi-legged robot. To control the balance, the weight shift control considering the Imaginary Zero Moment Point (IZMP) of the object is implemented. When the IZMP is beside the support polygon of the object, the object has rotational force. The rotational force is controlled by the force from the robot, and it can be manipulated by controlling the robot's CoM position and the internal force generated by joint actuators. The internal force can adjust the rotational force but it should be generated considering the friction forces between the object and the floor etc. We analyze available internal force with friction by kinematic solution, and it is implemented to the small multi-legged robot by using position and torque control. The effectiveness is confirmed through experiments.
UR - http://www.scopus.com/inward/record.url?scp=77953770501&partnerID=8YFLogxK
U2 - 10.1109/AMC.2010.5464064
DO - 10.1109/AMC.2010.5464064
M3 - Conference contribution
AN - SCOPUS:77953770501
SN - 9781424466696
T3 - International Workshop on Advanced Motion Control, AMC
SP - 601
EP - 606
BT - AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
T2 - 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Y2 - 21 March 2010 through 24 March 2010
ER -