1A1-E03 脚車輪ハイブリッド動作によるASTERISK Hの段差踏破解析(脚移動ロボット)  [in Japanese] 1A1-E03 Analysis of Hybrid Locomotion for Leg-Wheel Type ASTERISK H  [in Japanese]

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Abstract

New leg-wheel hybrid locomotion on the rough terrain is proposed for a hexapod robot. The proposed leg-wheel hybrid locomotion is realized by the continuous transition movement between the wheeled and legged locomotion. In the basic posture, the robot is supported by the three legs and moves by using their wheels on the flat plane. When the robot senses an obstacle, the support and the swing legs change each other like a tripod gait with oval orbit to overleap the obstacle. The experimental results of all combinations of four fundamental steps show the effectiveness of our method.

Journal

  • The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2008(0), _1A1-E03_1-_1A1-E03_4, 2008

    The Japan Society of Mechanical Engineers

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