NDLI: A four-wheeled robot to pass over steps by changing running control modes

Content Provider	IEEE Xplore Digital Library
Author	Matsumoto, O. Kajita, S. Tani, K. Oooto, M.
Copyright Year	1995
Description	Author affiliation: Lab. of Mech. Eng., MITI, Ibaraki, Japan (Matsumoto, O.; Kajita, S.; Tani, K.)
Abstract	We have developed a robot called a ' structure type four-wheeled robot' which, with a simple structure, has ability to pass over a step. This robot has only one degree of freedom to change the body's structure and can run on four wheels (4-wheeled mode) or on two wheels like a wheeled inverted pendulum (2-wheeled mode). For the realization of stepping up and down, there are three difficult problems to be solved: stable control in 2-wheeled state, transfer from 4- to 2-wheeled mode (swing-up), and transfer from 2- to 4-wheeled mode (landing). The control method we have developed for a wheeled inverted pendulum is used to control the 2-wheeled state using the signal of a rate gyroscope. In this paper, we mainly discuss control methods for transfers from 4- to 2-wheeled mode and from 2- to 4-wheeled mode. Especially in the transfer from 4- to 2-wheeled state, we make effective use of the driving torque of the motor which change the body's structure. In the transfer from 2- to 4-wheeled state, we have investigated a control method for soft landing to minimize the touch-down impact of the robot which is nonholonomic system. By combining our control methods, we have realized an experiment of passing over a step successfully.
Starting Page	1700
Ending Page	1706
File Size	940528
Page Count	7
File Format	PDF
ISBN	0780319656
ISSN	10504729
DOI	10.1109/ROBOT.1995.525518
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-05-21
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Wheels Servomotors Robot sensing systems DC motors Mechanical variables control Roads Legged locomotion Leg Servomechanisms
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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