Motion control technique for practical use of a leg-wheel robot on unknown outdoor rough terrains

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Volumn 2, Issue , 2004, Pages 1353-1358

  Nakajima, Shuro ^a   Nakano, Eiji ^a   Takahashi, Takayuki ^a  

^a TOHOKU UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); FEEDBACK CONTROL; MOTION CONTROL; SENSORS; STIFFNESS; TORQUE; TRAJECTORIES;

ANGULAR VELOCITY; LEG-WHEEL ROBOTS; ROUGH TERRAIN; STABILITY MARGIN;

MOBILE ROBOTS;

EID: 14044253559     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (9)

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2. Y.Dai, E.Nakano, T.Takahashi, and H.Ookubo: "Motion Control of Leg-Wheel Robot for an Unexplored Rough Terrain Environment", Proc. of 7th Int. Conf. on Advanced Robotics, Spain, Sept 1995, vol.2, pp.911-916.
3. E.Nakano, T.Takahashi, Z.Wang, Y.Dai, S.Nakajima: "A Simplified Cooperational Motion Control Method of a Leg-Wheel Robot for an Unexplored Rough Terrain Environment", Proceedings of The 4th World Multiconference on Systems, Cybernetics and Informatics, SCI'2000, vol. XI, pp. 234-239, 2000.
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6. S.Hirose, H.Takeuchi: "Roller-Walker: A Proposal of New Leg-Wheel Hybrid Mobile Robot", Proc. Int. Conf. on Advanced Robotics, pp.917-922, 1995.
7. O.Matsumoto, S.Kajita, M.Saigo, K.Tani: "Dynamic Control of Fast Passing Over Stairs by a Biped Type Leg-wheeled Robot Considering the Continuity of Dynamic Trajectories", Journal of the Robotics Society of Japan, vol.18, no.1, pp.294-101, 2000.
8. Quinn, R. D. Nelson, G.M., Bachmann, R.J., Kingsley,D.A., Offi, J. and Ritzmann, R. E.: "Insect Designs for Improved Robot Mobility", Proc. of Climbing and Walking Robots Conference (CLAWAR01), Professional Engineering Publications, edited by Berns and Dillmann, Karlsruhe, Germany, pp. 69-76, 2001.
9. T.Ohmichi, T.Ibe: "Development of Vehicle with Legs and Wheels", Journal of the Robotics Society of Japan, Vol.2, No.3, pp.244-251, 1984.