Fast Passing Over Steps Whose Height is Unknown by a 'Variable Structure Type Four-Wheeled Robot'.

• MATSUMOTO Osamu

• TANI Kazuo

Bibliographic Information

Other Title

• 構造可変型４輪ロボットによる高さが未知の段差の高速昇降制御
• コウゾウ カヘンガタ 4リン ロボット ニヨル タカサ ガ ミチ ノ ダンサ

Abstract

We are developing a wheeled robot called a 'variable structure type four-wheeled robot' which, with a simple structure, has ability to pass over a step. We already realized its dynamic passing over a step whose height is known. Therefore, in this paper, we propose a control method to pass over a step whose height is unknown. We mainly discuss the evaluation and planning method of a dynamic trajectory by considering the robot's stability against falling down in landing, and the control method to finish landing at a constant position on the step. We also confirm the possibility of detecting the height of the step by using the existing rotary encoder without adding any external sensors. As the result, we have successfully realized an experiment of this robot's going up steps whose height is unknown within only four seconds.

Journal

• TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C

  TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 63 (616), 4299-4306, 1997

  The Japan Society of Mechanical Engineers

Keywords

• Moving Robot
• Mechatronics and Robotics
• Motion Control
• Wheeled Robot
• Dynamic Trajectory Control
• Under-actuated Mechanism
• Unknown Environment
• Dynamic Passing over Steps

Details

• CRID: 1390282681303597824
• NII Article ID: 110002384916
• NII Article ID: 130004232565
• NII Book ID: AN00187463
• DOI: 10.1299/kikaic.63.4299
• ISSN: 18848354
• ISSN: 03875024
• NDL BIB ID: 4366417
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4366417
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/63/616/63_616_4299/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed