Gait planning for a multi-motion mode wheel-legged hexapod robot

In order to combine the advantages of both wheeled robot and legged robot, a multi-motion mode wheel-legged hexapod robot is designed. The robot can change motion mode to stable walking or fast skating. The design principle of the wheel-legged hexapod robot is introduced. The kinematics of swinging legs and supporting legs are analyzed independently. The tripod gait of the robot for walking is planned. Foot trajectory based on sine function during swing phase is planned. The gait of the robot for skating is planned. The foot trajectory for skating is optimized in order to reach the maximum constant velocity. We complete the simulation of the wheel-legged hexapod robot using Gazebo virtual world based on Robot Operating System (ROS). The walking gait and the skating gait are realized on the simulation platform. The simulation results show that the joint angle curves are smooth, and there is no conflict between the six legs. The walking gait and the skating gait are tested on the wheel-legged hexapod robot. The experimental results show that the robot can walk stably and skate fast.

[1]  S. Hirose,et al.  Study on Roller-Walk (basic characteristics and its control) , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[2]  Liu Yiqu.  Low-impact Motion Planning Method of Hydraulically Actuated Hexapod Robot , 2015 .

[3]  Vijay Kumar,et al.  Dynamics and generation of gaits for a planar rollerblader , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[4]  Jonathan E. Clark,et al.  Stride Period Adaptation for a Biomimetic Running Hexapod , 2001, ISRR.

[5]  Koki Kikuchi,et al.  A study on a wheel-based stair-climbing robot with a hopping mechanism , 2008 .

[6]  D.G. Gweon,et al.  Development of a mobile robot controlled by three motors for hostile environment , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[7]  Jianjun Yuan,et al.  A novel wide purpose leg-wheel hybrid mobile vehicle , 2004, IEEE Conference on Robotics and Automation, 2004. TExCRA Technical Exhibition Based..

[8]  Atsuo Takanishi,et al.  1A1-E11 Sliding Motion of Biped Walking Robots Mounted on Passive Wheels : 1st Report: Realization of Swizzle Motion by Inline Skates , 2007 .

[9]  Masashi Takahashi,et al.  Rough terrain locomotion of a leg-wheel hybrid quadruped robot , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[10]  Vijay Kumar,et al.  Design and gait control of a rollerblading robot , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[11]  茂男 広瀬,et al.  ローラウォーカ : 新しい脚-車輪ハイブリッド移動体の提案 , 1996 .

[12]  Yajun Liu.  Workspace Topologies and Dimensional Synthesis for Biological Detection Manipulator , 2015 .

[13]  S. Hirose,et al.  Study on Roller-Walker (system integration and basic experiments) , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[14]  Navinda Kottege,et al.  Energetics-informed hexapod gait transitions across terrains , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[15]  Daniel E. Koditschek,et al.  RHex: A Simple and Highly Mobile Hexapod Robot , 2001, Int. J. Robotics Res..

[16]  Jamshed Iqbal,et al.  Addressing collision avoidance and nonholonomic constraints of a wheeled robot: Modeling and simulation , 2014, 2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE).

[17]  Fumitoshi Matsuno,et al.  Development and Control of a High Maneuverability Wheeled Robot with Variable-Structure Functionality , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  Gen Endo,et al.  Study on Roller-Walker (multi-mode steering control and self-contained locomotion) , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[19]  Mark R. Cutkosky,et al.  Stride Period Adaptation of a Biomimetic Running Hexapod , 2004, Int. J. Robotics Res..

[20]  Argel A. Bandala,et al.  Obstacle avoidance of hybrid mobile-quadrotor vehicle with range sensors using fuzzy logic control , 2015, 2015 International Conference on Humanoid, Nanotechnology, Information Technology,Communication and Control, Environment and Management (HNICEM).

[21]  Kan Taguchi,et al.  1A1-E18 Development of biped skating robot 'BSR-2' : Analysis of both leg slide skating robot , 2008 .

[22]  Navinda Kottege,et al.  Real-Time Stabilisation for Hexapod Robots , 2014, ISER.