TY - GEN
T1 - The gait planning theory and technology research on the wheel-foot multi-joint mobile robot
AU - Zhang, Yeqing
AU - Luo, Qingsheng
AU - Wang, Meiling
AU - Wu, Fan
AU - Wu, Di
PY - 2014
Y1 - 2014
N2 - Based on the excellent mechanical structure of the wheel-foot multi-joint mobile robot, we have strictly deduced the direct and inverse kinematical formulas of the robot's legs. So the theoretical method and technology of gaits control for the wheel-foot multi-joint mobile robot have been explored out. By precisely analyzing the obstacle performance and the workspace of the robot's feet, the constraints and efficiency of the robot have been illustrated clearly. After studying the features of various gaits, we also have designed four kinds of specific gaits for the wheel-foot multi-joint mobile robot, including the swing forward gait, the crab-lateral gait, the bent-knee forward gait and the wheel-turn gait, to verify the mobile ability and control effects of the robot. Then we research most fully on the control features, the attitudes of legs, the simulation effects and the fluctuation of the robot's body when walking with these four kinds of gaits, in order to fully understand the performance of the robot. The results of simulations and actual prototype tests have proved that the wheel-foot multi-joint mobile robot, with special mechanical structure and reasonable gaits planning, can move fast and steadily with versatile gaits in various complex terrains. The effectiveness of the theoretical exploration and the technical implementation has been fully proved in this paper.
AB - Based on the excellent mechanical structure of the wheel-foot multi-joint mobile robot, we have strictly deduced the direct and inverse kinematical formulas of the robot's legs. So the theoretical method and technology of gaits control for the wheel-foot multi-joint mobile robot have been explored out. By precisely analyzing the obstacle performance and the workspace of the robot's feet, the constraints and efficiency of the robot have been illustrated clearly. After studying the features of various gaits, we also have designed four kinds of specific gaits for the wheel-foot multi-joint mobile robot, including the swing forward gait, the crab-lateral gait, the bent-knee forward gait and the wheel-turn gait, to verify the mobile ability and control effects of the robot. Then we research most fully on the control features, the attitudes of legs, the simulation effects and the fluctuation of the robot's body when walking with these four kinds of gaits, in order to fully understand the performance of the robot. The results of simulations and actual prototype tests have proved that the wheel-foot multi-joint mobile robot, with special mechanical structure and reasonable gaits planning, can move fast and steadily with versatile gaits in various complex terrains. The effectiveness of the theoretical exploration and the technical implementation has been fully proved in this paper.
KW - kinematical formulas
KW - mechanical structure
KW - prototype test
KW - walking gaits
KW - workspace of feet
UR - http://www.scopus.com/inward/record.url?scp=84905243421&partnerID=8YFLogxK
U2 - 10.1109/CCDC.2014.6853086
DO - 10.1109/CCDC.2014.6853086
M3 - Conference contribution
AN - SCOPUS:84905243421
SN - 9781479937066
T3 - 26th Chinese Control and Decision Conference, CCDC 2014
SP - 5086
EP - 5091
BT - 26th Chinese Control and Decision Conference, CCDC 2014
PB - IEEE Computer Society
T2 - 26th Chinese Control and Decision Conference, CCDC 2014
Y2 - 31 May 2014 through 2 June 2014
ER -