NDLI: Gait sequence generation of a hybrid wheeled-legged robot for negotiating discontinuous terrain

Content Provider	IEEE Xplore Digital Library
Author	Singh, S. Krishna, K.M.
Copyright Year	2013
Description	Author affiliation: Center for AI & Robot., Bangalore, India (Singh, S.) \|\| Robot. Res. Center, IIIT Hyderabad, Hyderabad, India (Krishna, K.M.)
Abstract	In this paper we develop an algorithm to generate gait sequences to negotiate a discontinuous terrain for a hybrid 4-wheeled legged robot. The gait sequence comprises two main steps - normal force redistribution and hybrid position-force control. The robot climbs the discontinuity one leg at a time. This requires that the entire load of the robot is taken up by the other three legs so that the leg climbing the discontinuity is free. For this purpose a load redistribution methodology is used which makes the center of gravity of chassis coincide with the desired center of pressure (CoP). Subsequently the free leg moves in hybrid position and force control to climb the discontinuity. Force sensing ensures constant contact with the terrain and detection of stand and end of the discontinuity without using any perception sensor. The methodology is validated using multi-body dynamic simulation.
Starting Page	766
Ending Page	771
File Size	581111
Page Count	6
File Format	PDF
ISBN	9781479915590
ISSN	10851992
DOI	10.1109/CCA.2013.6662842
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-08-28
Publisher Place	India
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Force Joints Wheels Vehicles wheeled robot force sensing force control legged locomotion motion control robot kinematics
Content Type	Text
Resource Type	Article

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