轮滑机器人.pdf

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
Acropolis Convention Center
Nice, France, Sept, 22-26, 2008
Study on Roller-Walker
– Adaptation of Characteristics of the propulsion by a Leg Trajectory –
Gen Endo and Shigeo Hirose
Abstract— Roller-Walker is a leg-wheel hybrid mobile robot
using a passive wheel equipped on the tip of each leg. The pas-
sive wheel can be transformed into sole mode by rotating ankle
roll joints when Roller-Walker walks on rough terrain. This
paper describes adaptation of characteristics of the propulsion
by a leg trajectory in the case of wheeled locomotion. Firstly,
the authors demonstrate that Roller-Walker could achieve high-
speed propulsion and slope climbing propulsion by simply
changing parameters of the leg trajectory on the hardware
experiments. Secondly, an asymptotic parameter tuning method
is introduced to perform specified velocity on the different
surfaces with different friction. The method is evaluated in
numerical simulations. The results suggest that the method
allows the Roller-Walker to have a function similar to an
automatic transmission of a usual car.
I. INTRODUCTION Fig. 1. Roller-Walker: the white lines show trajectories of the frontal leg