Hybrid Locomotion of Leg-Wheel ASTERISK H | Zendy

Takenobu Yoshioka | Zendy; Tomohito Takubo | Zendy; Tatsuo Arai | Zendy; Kenji Inoue | Zendy

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Hybrid Locomotion of Leg-Wheel ASTERISK H

Author(s) -

Takenobu Yoshioka,

Tomohito Takubo,

Tatsuo Arai,

Kenji Inoue

Publication year - 2008

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2008.p0403

Subject(s) - hexapod , obstacle , swing , robot , simulation , computer science , terrain , legged robot , control theory (sociology) , engineering , artificial intelligence , mechanical engineering , ecology , control (management) , political science , law , biology

Leg-wheel hybrid locomotion on rough terrain we propose for a hexapod robot is realized by continuous transition between wheeled and legged locomotion based on sensor feedback. In basic positioning on a flat surface, the robot is supported by three legs and moves using its wheels. Upon sensing an obstacle, the robot’s support and swing legs change to a tripod gait with an oval orbit to cross over the obstacle. The maximum obstacle height depends on the robot’s height and the positioning of the foreleg. We analyzed optimal positioning implemented in the hybrid robot ASTERISK H, as confirmed by experimental results.

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