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History of Robotics Research and Development of Japan2011LocomotionDynamic Rolling-Walk Motion by the Limb Mechanism Robot ASTERISK

Tomohito TakuboOsaka City University
Chayooth TheeravithayangkuraTOKUYAMA SEKISUI CO.,LTD.
Kenichi OharaOsaka University
Yasushi MaeOsaka University
Tatsuo AraiOsaka University
New dynamic rolling-walk motion for multi-legged robot with sensory compensation is proposed. The motion is realized by using the isotropic leg arrangement and the dynamic Center of Mass control inspired by bipedal robots. By using the Preview Control of Zero Moment Point with a cart-table model based on the bipedal robot’s technique, the robot’s Center of Mass trajectory is planned for the dynamic motion. The Resolved Momentum Control for manipulating the multi-links robot as a single mass model is also implemented in the system to maintain stability of the robot. In the new dynamic rolling-walk motion, the robot switches between two legs supporting phase and three legs supporting phase to achieve dynamic motion with the Preview Control of Zero Moment Point and Resolved Momentum Control as dynamic motion controllers. Due to the difficulties for controlling the Zero Moment Point during two legs supporting phase, the authors implemented Gyro sensor for error compensation. We analyzed the motion and confirmed the feasibility in the Open Dynamic Engine before implement the motion in an actual robot. Lastly, the results of motion with and without gyro sensor are compared. As compared with a normal walk of multi-legged robot, the motion can reduce the supporting area so that it walks through narrow spaces. 1th RSJ Advanced Robotics Best Paper Award in 2013.
腕脚統合型ロボットアスタリスク
Limb Mechanism Robot ASTERISK
動的回転歩行
Dynamic Rotational Walking

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Dynamic Rotational Walking

Correspondence papers

Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, and Tatsuo Arai：Dynamic Rolling-Walk Motion by the Limb Mechanism Robot ASTERISK

Advanced Robotics, Vol. 25, Issue 1-2, pp.75-91, 2011.

Related papers

[1]Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, and Tatsuo, Arai: ""Adaptive Gait for Dynamic Rotational Walking Motion on Unknown Non-Planar Terrain by Limb Mechanism Robot ASTERISK"", Journal of Robotics and Mechatronics, Vol. 25, No. 1, pp. 172-182, 2013.

[2]Kenji Kamikawa, Tatsuo Arai, Yasushi Mae, Tomohito Takubo, Kenji Inoue : ""Extention of Movable Area of Multi Legged Robot by Rotational Gait"", Journal of Robotics Society Japan, Vol.20, No.2, pp.231-240, 2010 (in Japanease).

[3]Tomohito Takubo, Tatsuo Arai, Kenji Inoue, Hikaru Ochi, Takeshi Konishi, Taisuke Tsurutani, Yasuo Hayashibara, Eiji Koyanagi:""Integrated Limb Mechanism Robot ASERISK"", Journal of Robotics and Mechatronics, Vol. 18, No. 2, pp. 203-214, 2006.

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