Swizzle Movement for Biped Walking Robot Having Passive Wheels

Kenji Hashimoto; Yusuke Sugahara; Hun-ok Lim; Atsuo Takanishi

doi:10.20965/jrm.2008.p0413

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JRM Vol.20 No.3 pp. 413-419

doi: 10.20965/jrm.2008.p0413

(2008)

Paper:

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Swizzle Movement for Biped Walking Robot Having Passive Wheels

Kenji Hashimoto^1, Yusuke Sugahara^2, Hun-ok Lim^3,5,
and Atsuo Takanishi^4,5

^*1Graduate School of Science and Engineering, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555, Japan

^*2Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan

^*3Department of Mechanical Engineering, Kanagawa University, 3-27-1 Rokkakubashi, Kanagawa-ku, Yokohama, Kanagawa 221-8686, Japan

^*4Department of Modern Mechanical Engineering, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555, Japan

^*5Humanoid Robotics Institute (HRI), Waseda University, 17-41-2-04A Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan

Received:

October 6, 2007

Accepted:

March 9, 2008

Published:

June 20, 2008

Keywords:

biped walking, sliding motion, passive wheeled locomotion, inline skating, swizzle movement

Abstract

Biped walking is easily adapted to rough terrain such as stairs and stony paths, but speed and energy efficiency on flat surfaces is less effective than wheeled locomotion. We propose new control for swizzling by biped walking robots using inline skates. Swizzling uses friction force generated by regular passive wheel movement. Our proposal is based on the reaction force on the foot, and new reference position is changed based on reaction force not to be large internal force. Through hardware experiments, the effectiveness of the proposed method was confirmed.

Cite this article as:

K. Hashimoto, Y. Sugahara, H. Lim, and A. Takanishi, “Swizzle Movement for Biped Walking Robot Having Passive Wheels,” J. Robot. Mechatron., Vol.20 No.3, pp. 413-419, 2008.

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References

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[2] O. Matsumoto, S. Kajita, and K. Komoriya, “Flexible Locomotion Control of a Self-contained Biped Leg-wheeled System,” Proc. of the IEEE/RSJ IROS 2002, pp. 2599-2604, Lausanne, Switzerland, October, 2002.
[3] K. Hashimoto, T. Hosobata, Y. Sugahara, Y. Mikuriya, H. Sunazuka, M. Kawase, H. O. Lim, and A. Takanishi, “Realization by Biped Leg-wheeled Robot of Biped Walking and Wheeldriven Locomotion,” Proc. of the IEEE ICRA 2005, pp. 2981-2986, Barcelona, Spain, April, 2005.
[4] G. Endo and S. Hirose, “Study on Roller-Walker (Multi-mode Steering Control and Self-contained Locomotion),” Proc. of the IEEE ICRA 2000, pp. 2808-2814, San Francisco, USA, 2000.
[5] M. Kumagai and K. Tamada, “A Truck with Variable Curvature Operated by its Inclination and Application to Walking Robot,” Proc. of the 233rd SICE Tohoku Chapter workshop, 233-1, 2006 (in Japanese).
[6] H. Utsumi, M. Ikeda, M. Ezuhara, and K. Ioi, “Study on Sliding Motion of a Humanoid Robot,” Proc. of the 24th Annual Conf. of the RSJ, 2H25, 2006 (in Japanese).
[7] M. Higano, Y. Ujita, and K. Taguchi, “Development of biped skating robot “BSR-1” —2^nd report: Skating experiment of prototype robot— ,” Proc. of the JSME ROBOMEC ’06, 1A1-D32, Waseda, Japan, 2006 (in Japanese).
[8] K. Maeda and M. Miwa, “Roller skates movement of 2-Legs Robot,” Proc. of the JSME ROBOMEC ’06, 2P1-B15, Waseda, Japan, 2006 (in Japanese).
[9] T. Otsuka, H. Takanobu, K. Suzuki, and H. Miura, “SlideMovement of Robot that Uses Roller Skates,” Proc. of the 23rd Annual Conf. of the RSJ, 3G22, 2005 (in Japanese).
[10] M. T. Mason, “Compliance and Force Control for Computer Controlled Manipulators,” IEEE Trans. on Systems, Man, and Cybernetics, Vol.SMC-11, No.6, pp. 418-432, 1981.
[11] K. Kosuge, K. Furuta, and T. Yokoyama, “Virtual Internal Model Following Control of Robot Arms,” Proc. of the IEEE ICRA 1987, pp. 1549-1554, 1987.
[12] T. Yoshikawa, “Dynamic Hybrid Position/Force Control of Robot Manipulators — Description of Hand Constraints and Calculation of Joint Driving Force,” IEEE Journal of Robotics and Automation, Vol.RA-3, No.5, pp. 386-392, 1987.
[13] Y. Sugahara, Y. Mikuriya, T. Hosobata, H. Sunazuka, M. Kawase, K. Hashimoto, H. O. Lim, and A. Takanishi, “Support Torque Reduction Mechanism for Biped Locomotor with Parallel Mechanism,” Proc. of the IEEE/RSJ IROS 2004, pp. 3213-3218, Sendai, Japan, October, 2004.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] M. Sonehara, T. Yamamoto, S. Uemura, S. Kitazono, H. Murakami, S. Hoshino, and M. Mizukawa, “Development of leg-wheled type mobile robot IMR-Type1,” Proc. of the JSME ROBOMEC ’05, ALL-N-013, Kobe, Japan, 2005 (in Japanese).

[2] [2] O. Matsumoto, S. Kajita, and K. Komoriya, “Flexible Locomotion Control of a Self-contained Biped Leg-wheeled System,” Proc. of the IEEE/RSJ IROS 2002, pp. 2599-2604, Lausanne, Switzerland, October, 2002.

[3] [3] K. Hashimoto, T. Hosobata, Y. Sugahara, Y. Mikuriya, H. Sunazuka, M. Kawase, H. O. Lim, and A. Takanishi, “Realization by Biped Leg-wheeled Robot of Biped Walking and Wheeldriven Locomotion,” Proc. of the IEEE ICRA 2005, pp. 2981-2986, Barcelona, Spain, April, 2005.

[4] [4] G. Endo and S. Hirose, “Study on Roller-Walker (Multi-mode Steering Control and Self-contained Locomotion),” Proc. of the IEEE ICRA 2000, pp. 2808-2814, San Francisco, USA, 2000.

[5] [5] M. Kumagai and K. Tamada, “A Truck with Variable Curvature Operated by its Inclination and Application to Walking Robot,” Proc. of the 233rd SICE Tohoku Chapter workshop, 233-1, 2006 (in Japanese).

[6] [6] H. Utsumi, M. Ikeda, M. Ezuhara, and K. Ioi, “Study on Sliding Motion of a Humanoid Robot,” Proc. of the 24th Annual Conf. of the RSJ, 2H25, 2006 (in Japanese).

[7] [7] M. Higano, Y. Ujita, and K. Taguchi, “Development of biped skating robot “BSR-1” —2^nd report: Skating experiment of prototype robot— ,” Proc. of the JSME ROBOMEC ’06, 1A1-D32, Waseda, Japan, 2006 (in Japanese).

[8] [8] K. Maeda and M. Miwa, “Roller skates movement of 2-Legs Robot,” Proc. of the JSME ROBOMEC ’06, 2P1-B15, Waseda, Japan, 2006 (in Japanese).

[9] [9] T. Otsuka, H. Takanobu, K. Suzuki, and H. Miura, “SlideMovement of Robot that Uses Roller Skates,” Proc. of the 23rd Annual Conf. of the RSJ, 3G22, 2005 (in Japanese).

[10] [10] M. T. Mason, “Compliance and Force Control for Computer Controlled Manipulators,” IEEE Trans. on Systems, Man, and Cybernetics, Vol.SMC-11, No.6, pp. 418-432, 1981.

[11] [11] K. Kosuge, K. Furuta, and T. Yokoyama, “Virtual Internal Model Following Control of Robot Arms,” Proc. of the IEEE ICRA 1987, pp. 1549-1554, 1987.

[12] [12] T. Yoshikawa, “Dynamic Hybrid Position/Force Control of Robot Manipulators — Description of Hand Constraints and Calculation of Joint Driving Force,” IEEE Journal of Robotics and Automation, Vol.RA-3, No.5, pp. 386-392, 1987.

[13] [13] Y. Sugahara, Y. Mikuriya, T. Hosobata, H. Sunazuka, M. Kawase, K. Hashimoto, H. O. Lim, and A. Takanishi, “Support Torque Reduction Mechanism for Biped Locomotor with Parallel Mechanism,” Proc. of the IEEE/RSJ IROS 2004, pp. 3213-3218, Sendai, Japan, October, 2004.

Swizzle Movement for Biped Walking Robot Having Passive Wheels

Kenji Hashimoto*1, Yusuke Sugahara*2, Hun-ok Lim*3,*5, and Atsuo Takanishi*4,*5

Kenji Hashimoto^1, Yusuke Sugahara^2, Hun-ok Lim^3,5,
and Atsuo Takanishi^4,5