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Dynamically diverse legged locomotion for rough terrain

Katie Byl, Russ Tedrake
2009 2009 IEEE International Conference on Robotics and Automation  
Our results demonstrate visceral progress toward realization of one of the central theoretically claims giving legged locomotion a "leg-up" over wheeled robotics: that appropriate design of control can  ...  In this video, we demonstrate the effectiveness of a kinodynamic planning strategy that allows a high-impedance quadruped to operate across a variety of rough terrain.  ...  The LittleDog robot is made by Boston Dynamics, of Waltham, Massachusetts, USA.  ... 
doi:10.1109/robot.2009.5152757 dblp:conf/icra/BylT09 fatcat:2hlxrvgn6vh3nkdhtppwfvrswy

Quattroped: A Leg--Wheel Transformable Robot

Shen-Chiang Chen, Ke-Jung Huang, Wei-Hsi Chen, Shuan-Yu Shen, Cheng-Hsin Li, Pei-Chun Lin
2014 IEEE/ASME transactions on mechatronics  
The performance of the robot is evaluated in various scenarios, including driving and turning in wheeled mode, driving, step and bar crossing, irregular terrain passing, and stair climbing in legged mode  ...  This paper reports on the design, integration, and performance evaluation of a novel four-leg/four-wheel transformable mobile robot, Quattroped.  ...  ACKNOWLEDGMENT The authors would like to thank National Instruments' Taiwan Branch for their kind support of this study through equipment and technical consulting.  ... 
doi:10.1109/tmech.2013.2253615 fatcat:6aezr6qwpvefxag3ulh3k7n7iy

Design of a leg-wheel hybrid mobile platform

Shuan-Yu Shen, Cheng-Hsin Li, Chih-Chung Cheng, Jau-Ching Lu, Shao-Fan Wang, Pei-Chun Lin
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Comparing to most hybrid platforms which have separate mechanisms of wheels and legs, this robot is implemented with a transformation mechanism which directly changes the morphology of wheels (i.e. a full  ...  We introduce the design of a leg-wheel hybrid platform Quattroped.  ...  For example, (1) on the rough terrain where the behavior of the robot operated in the wheel mode is too bumpy, the robot operated in the leg mode with swing and extract/retract motion shown in Figure  ... 
doi:10.1109/iros.2009.5353958 dblp:conf/iros/ShenLCLWL09 fatcat:nb4ktotf4ffn7ge6luw74phwzm

RHex: A Simple and Highly Mobile Hexapod Robot

Uluc Saranli, Martin Buehler, Daniel E. Koditschek
2001 The international journal of robotics research  
In this paper, the authors describe the design and control of RHex, a power autonomous, untethered, compliant-legged hexapod robot.  ...  Abstract In this paper, the authors describe the design and control of RHex, a power autonomous, untethered, compliant-legged hexapod robot.  ...  Bob Full consulted on many of the design decisions and provided numerous tutorial explanations of the biomechanics literature. Greg Sharp built the software for the processing of our vision data.  ... 
doi:10.1177/02783640122067570 fatcat:3whpx4utjnfwtkf3u5fq6rr5b4

Novel Compliant omnicrawler-wheel transforming module [article]

Akash Singh, Vinay Rodrigues, Enna Sachdeva, Sai Hanisha, Madhava Krishna
2018 arXiv   pre-print
This paper presents a novel design of a crawler robot which is capable of transforming its chassis from an Omni crawler mode to a large-sized wheel mode using a novel mechanism.  ...  This paper contributes on improving the locomotion mode of previously developed hybrid compliant omnicrawler robot CObRaSO.  ...  For example, CALEB-2 [9] a compliant tracked robot is capable of handling uneven terrains, ROBHAZ-DT [10] is able negotiate rough terrain negotiable mobile platform with passively adaptive double-tracks  ... 
arXiv:1806.00765v2 fatcat:uuusrix3ejg5bhgon7lctj7ggy

Terrain Classification Using Weakly-Structured Vehicle/Terrain Interaction

Amy C. Larson, Guleser K. Demir, Richard M. Voyles
2005 Autonomous Robots  
We demonstrate the viability of terrain classification for legged vehicles using gait bounce with a rigorous study of more than 700 trials, obtaining an 83% accuracy on a set of laboratory terrains.  ...  We present a new terrain classification technique both for effective, autonomous locomotion over rough, unknown terrains and for the qualitative analysis of terrains for exploration and mapping.  ...  Acknowledgments We thank Seth Hulst and Andrew Willouer for their time-consuming efforts in data collection. We thank Berk Yesin for his vision code and Monica LaPoint for her systems work.  ... 
doi:10.1007/s10514-005-0605-5 fatcat:qifeig7knnaulbu63fuzyzcboq

Fast, robust quadruped locomotion over challenging terrain

Mrinal Kalakrishnan, Jonas Buchli, Peter Pastor, Michael Mistry, Stefan Schaal
2010 2010 IEEE International Conference on Robotics and Automation  
We present a control architecture for fast quadruped locomotion over rough terrain.  ...  We evaluate the performance of our controller by testing it on the LittleDog quadruped robot, over a wide variety of rough terrain of varying difficulty levels.  ...  ACKNOWLEDGEMENTS We would like to acknowledge the contributions of Dimitris Pongas, Jan Peters and Jo-Anne Ting to previous versions of our control software.  ... 
doi:10.1109/robot.2010.5509805 dblp:conf/icra/KalakrishnanBPMS10 fatcat:4to5mguxkzbnhfkakon4y46zme

Performance analysis and terrain classification for a legged robot over rough terrain

F. L. Garcia Bermudez, R. C. Julian, D. W. Haldane, P. Abbeel, R. S. Fearing
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, we investigate the performance of a legged robot as it traverses three distinct rough terrains: tile, carpet, and gravel.  ...  Minimally actuated millirobotic crawlers navigate unreliably over uneven terrain-even when designed with inherent stability-mostly because of manufacturing variabilities and a lack of good models for ground  ...  arena, Andrew Pullin for help with the OctoRoACH embedded code and for photographing the robot, and members of the Biomimetic Millisystems Lab and the EECS community at the University of California, Berkeley  ... 
doi:10.1109/iros.2012.6386243 dblp:conf/iros/BermudezJHAF12 fatcat:ildbcb2jarhd7bpxs22ub37mym

CObRaSO: Compliant Omni-Direction Bendable Hybrid Rigid and Soft OmniCrawler Module [article]

Enna Sachdeva, Akash Singh, Vinay Rodrigues, Abhishek Sarkar, K.Madhava Krishna
2018 arXiv   pre-print
This hybrid structure provides compliant pathways for the lug-chain assembly to passively conform with the orientation of the module and crawl in Omnidirectional bent configuration, which makes this module  ...  of a soft-rigid material.  ...  Mode Joints control + Sideways Rolling motion Legged Locomotion Joints control  ... 
arXiv:1709.10452v2 fatcat:upizd6avk5covcnzycyqaobr6u

Decoupled control of posture and trajectory of the hybrid wheel-legged robot hylos

Ch. Grand, F. BenAmar, F. Plumet, Ph. Bidaud
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
This paper addresses the control of a hybrid wheellegged system evolving on rough terrain. First, the posture and trajectory parameters are introduced.  ...  Then, a decoupled posture and trajectory control algorithm based on the velocity model of the robot is proposed.  ...  For wheeled robots evolving on natural rough terrain, the main research activity concerns the design of innovative steering (Nomad [1] ) and suspension systems.  ... 
doi:10.1109/robot.2004.1302528 dblp:conf/icra/GrandAPB04 fatcat:keh7esazv5cr3gnczzbu6moqtu

PIEZOELECTRIC FORCE SENSORS FOR HEXAPOD TRANSPORTATION PLATFORM

Mindaugas Luneckas, Tomas Luneckas, Vytenis Gavelis, Vytautas Valaitis, Dainius Udris
2015 Transport  
Rough terrain is one of the major issues for transporting various objects to different remote locations. Wheeled platforms or robots are not suitable for such tasks due to a lack of ground clearance.  ...  However, leg placing requires accurate supervision and the force sensing system must be developed on each foot to acquire equal force distribution between legs and to obtain stable motion over the irregular  ...  All wheeled robots can only overcome roughness that is smaller than the radius of their wheel. Due to this problem, the use of all wheeled (also tracked) platforms is limited.  ... 
doi:10.3846/16484142.2015.1079236 fatcat:hy74anv2ivbb7fkdunnv47hqqa

Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots

Alexander Winkler, Ioannis Havoutis, Stephane Bazeille, Jesus Ortiz, Michele Focchi, Rudiger Dillmann, Darwin Caldwell, Claudio Semini
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
We present a framework for quadrupedal locomotion over highly challenging terrain where the choice of appropriate footholds is crucial for the success of the behaviour.  ...  We leverage the full set of benefits that a high performance torque controlled quadruped robot can provide and demonstrate the flexibility and robustness of our approach on a set of experimental trials  ...  The authors would also like to thank the Computational Learning and Motor Control (CLMC) lab Learning locomotion team from the University of Southern California (USC) for their valuable input.  ... 
doi:10.1109/icra.2014.6907815 dblp:conf/icra/WinklerHBOFDCS14 fatcat:6ygczqzyfrcyflyb2pf5g3hdjq

Hybrid driving-stepping locomotion with the wheeled-legged robot Momaro

Max Schwarz, Tobias Rodehutskors, Michael Schreiber, Sven Behnke
2016 2016 IEEE International Conference on Robotics and Automation (ICRA)  
Locomotion in uneven terrain is important for a wide range of robotic applications, including Search&Rescue operations.  ...  Our mobile manipulation robot Momaro features a unique locomotion design consisting of four legs ending in pairs of steerable wheels, allowing the robot to omnidirectionally drive on sufficiently even  ...  For flexible locomotion, Momaro is equipped with four articulated compliant legs that end in pairs of directly driven, steerable wheels.  ... 
doi:10.1109/icra.2016.7487776 dblp:conf/icra/SchwarzRSB16 fatcat:t5tvjvupibdlbfqbtoeunkjody

Review article: locomotion systems for ground mobile robots in unstructured environments

L. Bruzzone, G. Quaglia
2012 Mechanical Sciences  
The design of the locomotion systems of mobile robots for unstructured environments is generally complex, particularly when they are required to move on uneven or soft terrains, or to climb obstacles.  ...  on uneven terrains, energy efficiency, mechanical complexity, control complexity and technology readiness.  ...  For example, RHex is a cockroach-inspired hexapod robot with compliant legs providing a self-stabilised gait, developed by a consortium of six American and Canadian universities (Fig. 5b) .  ... 
doi:10.5194/ms-3-49-2012 fatcat:j5hxuq2aqjgqtdxwaos77jhbma

Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots

Marko Bjelonic, C. Dario Bellicoso, Yvain de Viragh, Dhionis Sako, F. Dante Tresoldi, Fabian Jenelten, Marco Hutter
2019 IEEE Robotics and Automation Letters  
Moreover, with a speed of 4 m/s and a reduction of the cost of transport by 83 % we prove the superiority of wheeled-legged robots compared to their legged counterparts.  ...  We show dynamic locomotion strategies for wheeled quadrupedal robots, which combine the advantages of both walking and driving.  ...  ACKNOWLEDGMENT The authors would like to thank Vassilios Tsounis for his support during the development of the wheel actuator firmware.  ... 
doi:10.1109/lra.2019.2899750 fatcat:gfb36zikkvce3a243ws5ihp7bu
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