Decoupled Kinematic Control of Terrestrial Locomotion for an ePaddle-Based Recon.gurable Amphibious Robot
In this paper we present a decoupled control method based on kinematic models of an amphibious recon.gurable robot called ePaddle-based quadruped robot (eQuad). The locomotion mechanism of eQuad is a novel eccentric paddle mechanism (ePaddle) that can perform wheeled, legged and paddling actions in both terrestrial and aquatic environments. We .rst introduce .ve terrestrial and aquatic gaits. A duty factor of up to 1.0 can be achieved for the legged walking. Therefore, the proposed robot eQuad can walk with a unique gait by eliminating the swing phase of the legs, and it has a large stable margin because all its legs are in contact with ground during walking. Kinematic models of this robot suggest that with this unique gait the recon.gurable ePaddle mechanism has the potential to achieve both legged and wheeled locomotion with the aid of a simple controller. A decoupled controller adapted from the wheeled robot is then built to evaluate this idea. Finally, simulations are performed to verify our proposed decoupled control and gait sequence planning methods.
Yi Sun Shugen Ma
Department of Robotics,Ritsumeikan University,525-8577 Shiga,Japan
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1223-1228
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）