Estimation and Verification of the Trajectory Forms Generated by a Legged Sliding Robot
This paper presents an 3D algorithm to estimate the motion trajectory of a four legged sliding robot considering the ground friction coef.cient and the payload distribution at leg ends during walk on a flat ground including ascending or descending slopes. We formulate mathematical expression for estimating energy cost of motion utilizing the principle of virtual work under the condition where the robot moves by alternating pivotal feet having hemispherical form at their ends. Then we minimize the sum of the virtual work for determining actual robot motion. Results of the minimization make it possible to simulate the motion behaviors for visualizing robot trajectory in different traveling environments. Additionally, we verify simulation results by demonstrating the walk with functions of turn and spin as a legged type of the hybrid robot PEOPLERII. Hence the proposed algorithm is useful for clarifying the robot motion behaviors.
Abeer Mahmoud Tokuji Okada W.T.Botelho
Course of Information Science and Engineering,Graduate School of Science and Technology,Niigata Univ Department of Cybernetics,Faculty of Engineering,Niigata University,Niigata,950-2181 Japan
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
227-232
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）