Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 26, Issue 3, Pages 1624-1634Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2020.3025942
Keywords
Wheels; Legged locomotion; Dynamics; Turning; Robot kinematics; Roller-skating; nonholonomic constraint; quadrupedal robot; skating inverted pendulum (SIP)
Categories
Funding
- National Natural Science Foundation of China [51775011, 91748201]
- Beijing Natural Science Foundation [3192017]
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Inspired by human roller-skating, a new dynamic roller-skating gait for a typical mammalian quadrupedal robot with passive wheels is proposed to improve mobile efficiency. By imitating human roller-skating, this dynamic gait based on bilateral symmetry can achieve linear and turning motion, with higher speed and efficiency compared to conventional trotting.
Human can achieve roller-skating utilizing passive wheels to improve movement speed. Inspired by human roller-skating, a new dynamic roller-skating gait of a typical mammalian quadrupedal robot with passive wheels is proposed to promote mobile efficiency. According to the motion characteristics of human dynamic roller-skating, a simple structure of passive wheels installed on feet is designed for the mammalian quadrupedal robot to achieve this dynamic roller-skating without adding any active joints. Imitating human roller-skating, this dynamic roller-skating gait based on the bilateral symmetry can achieve the linear and turning motion. The Poincare map and the skating inverted pendulum model derived from human roller-skating are used to simplify the controller of the quadrupedal robot without considering real dynamical characteristics. The proposed roller-skating gait is verified in simulations and experiments. The results prove that the roller-skating gait has higher speed and efficiency than the conventional trotting gait.
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