History of Robotics Research and Development of Japan2011LocomotionA Skid-Steering Vehicle with Feet for Moving on All Terrain

Tokuji OKADANiigata University
We propose a mechanism and control of a wheeled skid-steering mobile robot equipped with six feet for each wheel. Front and rear feet on one side are grouped into two. First one is odd numbered and second one is even numbered. Same things are said in other side. Therefore, the robot has 6 degrees of freedom (DOFs) totally. We consider robot controls for progressing and steering by rolling and walking since cooperative control of feet and wheel makes various movements on a terrain to cope with obstacles. Particularly, angular values of hip and knee joints are investigated in the two feet groups for stepping up or stepping over obstacles. These motions are demonstrated by the robot, PEOPLER-IV on a practical field for verifying that the proposed cooperative controls are useful.
Skid-steering vehicle with feet on rough terrain


Correspondence papers

岡田徳次、手塚 悟、佐々木雄介:足をもつスキッドステア車の対地適応移動制御

JSMEロボティクス・メカトロニクス講演会、No.11-5, pp.2A2-M02(1-4)、岡山、2011年5月27日

Related papers

[1] T. Okada, S. Tezuka, Y. Sasaki:Sensor-Based Control of a Skid-Steering Mobile Robot Combined with Feet for Moving on All Terrain, Proc. of the 14th Conf. on CLAWAR, UPMC(Paris), pp.666-675, September 6th, 2011.

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