A control method of low speed wheeled locomotion for a wheel-legged mobile robot

This paper discusses problems in low speed wheeled locomotion of wheel-legged mobile robot. We show the kinematic constraints of the acceleration level for wheel-legged mobile robot performs the motion generation. Next, we describe singular configuration problems that occur in low speed wheeled locomotion. The damped least squares method is applied to solve this problem. The effectiveness of the solution is validated by three-dimensional simulations.

[1]  Charles W. Wampler,et al.  Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods , 1986, IEEE Transactions on Systems, Man, and Cybernetics.

[2]  Noriho Koyachi,et al.  Step over motion of four wheeled and four legged flexible personal robot , 2009, 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[3]  Alin Albu-Schäffer,et al.  On the kinematic modeling and control of a mobile platform equipped with steering wheels and movable legs , 2009, 2009 IEEE International Conference on Robotics and Automation.

[4]  Akihiro Suzumura,et al.  High mobility control for a wheel-legged mobile robot based on resolved momentum control , 2012, 2012 12th IEEE International Workshop on Advanced Motion Control (AMC).

[5]  A. Suzumura,et al.  Workspace control of a wheel-legged mobile robot for gyrating locomotion with movable leg , 2013, 2013 IEEE International Conference on Mechatronics (ICM).

[6]  T. Yoshikawa,et al.  Task-Priority Based Redundancy Control of Robot Manipulators , 1987 .

[7]  Brian H. Wilcox,et al.  ATHLETE: A cargo and habitat transporter for the moon , 2009, 2009 IEEE Aerospace conference.

[8]  K. Ford,et al.  Singular Direction Avoidance Steering for Control-Moment Gyros , 1998 .

[9]  Tatsuo Arai,et al.  Hybrid Locomotion of Leg-Wheel ASTERISK H , 2008, J. Robotics Mechatronics.

[10]  Frédéric Plumet,et al.  Motion kinematics analysis of wheeled-legged rover over 3D surface with posture adaptation , 2010 .

[11]  Shuro Nakajima,et al.  RT-Mover: a rough terrain mobile robot with a simple leg–wheel hybrid mechanism , 2011, Int. J. Robotics Res..

[12]  Yoshihiko Nakamura,et al.  Singularity Low-Sensitive Motion Resolution of Articulated Robot Arms , 1984 .