NDLI: The gait planning theory and technology research on the wheel-foot multi-joint mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Zhang Yeqing Luo Qingsheng Wang Meiling Wu Fan Wu Di
Copyright Year	2014
Description	Author affiliation: Key Lab. of Intell. Control & Decision of Complex Syst., Beijing Inst. of Technol., Beijing, China (Zhang Yeqing; Wang Meiling) \|\| Sch. of Mech. & Electron. Eng., Beijing Inst. of Technol., Beijing, China (Luo Qingsheng; Wu Fan; Wu Di)
Abstract	Based on the excellent mechanical structure of the wheel-foot multi-joint mobile robot, we have strictly deduced the direct and inverse kinematical formulas of the robot's legs. So the theoretical method and technology of gaits control for the wheel-foot multi-joint mobile robot have been explored out. By precisely analyzing the obstacle performance and the workspace of the robot's feet, the constraints and efficiency of the robot have been illustrated clearly. After studying the features of various gaits, we also have designed four kinds of specific gaits for the wheel-foot multi-joint mobile robot, including the swing forward gait, the crab-lateral gait, the bent-knee forward gait and the wheel-turn gait, to verify the mobile ability and control effects of the robot. Then we research most fully on the control features, the attitudes of legs, the simulation effects and the fluctuation of the robot's body when walking with these four kinds of gaits, in order to fully understand the performance of the robot. The results of simulations and actual prototype tests have proved that the wheel-foot multi-joint mobile robot, with special mechanical structure and reasonable gaits planning, can move fast and steadily with versatile gaits in various complex terrains. The effectiveness of the theoretical exploration and the technical implementation has been fully proved in this paper.
Starting Page	5086
Ending Page	5091
File Size	8151892
Page Count	6
File Format	PDF
ISBN	9781479937073
e-ISBN	9781479937080
DOI	10.1109/CCDC.2014.6853086
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion mechanical structure Robot kinematics workspace of feet kinematical formulas walking gaits Joints prototype test Equations Foot
Content Type	Text
Resource Type	Article

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