Subscribe Now Subscribe Today
Research Article
 

Walk-to-ladder Climb Transfer with Force Adjustment for a Multi-locomotion Robot



Zhiguo Lu, Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasegawa and Toshio Fukuda
 
Facebook Twitter Digg Reddit Linkedin StumbleUpon E-mail
ABSTRACT

This study presents a walk-to-ladder climb transfer for a Multi-locomotion Robot (MLR) with force adjustment using a key joint method which has been developed originally for releasing the additional internal stress by changing a redundant position control joint to force control. Walk-to-ladder climb transfer is a multi-contact complicate robot motion with robot hands and feet cooperation. Three sub-motions were designed in this motion transfer: (1) Raise hands to catch the ladder’s rung, (2) Walk close to the ladder, (3) Climb on the ladder with legs. In order to compensate the position errors which always happened with position control, the key joint method has been studied in this study to improve the contact situations between the robot hand and the supporting rung. Experimental results show that this control method is effective for compensating the distance errors between hands and feet, thus the sliding of robot foot and the tumble problems has been prevented successfully. As a result, the MLR performs the walk-to-ladder climb transfer stably and smoothly.

Services
Related Articles in ASCI
Similar Articles in this Journal
Search in Google Scholar
View Citation
Report Citation

 
  How to cite this article:

Zhiguo Lu, Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasegawa and Toshio Fukuda, 2013. Walk-to-ladder Climb Transfer with Force Adjustment for a Multi-locomotion Robot. Journal of Applied Sciences, 13: 1629-1635.

DOI: 10.3923/jas.2013.1629.1635

URL: https://scialert.net/abstract/?doi=jas.2013.1629.1635
 

REFERENCES
Aoyama, T., K. Sekiyama, Y. Hasegawa and T. Fukuda, 2009. Optimal limb length ratio of quadruped robot minimizing joint torque on slopes. Applied Bionics Biomechanics, 6: 259-268.

Aoyama, T., K. Sekiyama, Z. Lu, Y. Hasegawa and T. Fukuda, 2012. 3-D biped walking using double support phase and swing leg retraction based on the assumption of point-contact. J. Robotics Mechatronics, 24: 866-875.

Aoyama, T., Y. Hasegawa, K. Sekiyama and T. Fukuda, 2009. Stabilizing and direction control of efficient 3-d biped walking based on pdac. IEEEASME Trans. Mechatronics, 14: 712-718.
CrossRef  |  

Fukuda, T., Y. Hasegawa, K. Sekiyama and T. Aoyama, 2012. Multi-Locomotion Robotic System-New Concept of Bio-Inspired Robotics. Springer, Berlin, Pages: 340.

Harada, K., H. Hirukawa, F. Kanehiro, K. Fujiwara, K. Kaneko, S. Kajita and M. Nakamura, 2004. Dynamic balance of a humanoid robot grasping an environment. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Volume 2, September 28-October 2, 2004, Japan, pp: 1167-1173.

Harada, K., S. Kajita, K. Kaneko and H. Hirukawa, 2003. ZMP analysis for Arm/Leg coordination. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Volume 1, October 27-31, 2003, Tsukuba, Japan, pp: 75-81.

Inoue, K., Y. Nishihama, K. Sakata, T. Arai and Y. Mae, 2005. Generating whole body motion of humanoid robots for manipulation tasks. J. Robotics Soc. Japan, 23-28: 967-976.

Kajima H., M. Doi, Y. Hasegawa and T. Fukuda, 2004. A study on a brachiation controller for a multi-locomotion robot-realization of smooth, continuous brachiation. Adv. Robotics, 18: 1025-1038.
CrossRef  |  Direct Link  |  

Koyanagi, K., H. Hirukawa, S. Hattori, M. Morisawa, S. Nakaoka, K. Harada and S. Kajita, 2008. A pattern generator of robots walking on a rough terrain using a handrail. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, September 22-26, 2008, Nice, pp: 2617-2622.

Lu, Z., K. Sekiyama, Y. Hasegawa, T. Aoyama, H. Yoneda and T. Fukuda, 2011. Climbing up motion of the multi-locomotion robot (mlr) on vertical ladder with different gaits. Int. J. Mechatronics Automation, 1: 190-200.
Direct Link  |  

Lu, Z., T. Aoyama, K. Sekiyama, Y. Hasegawa, T. Kobayashi and T. Fukuda, 2012. Optimal control of energetically efficient ladder decent motion with internal stress adjusted using key joint method. Proceeings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, October 7-12, 2012, Vilamoura, pp: 2216-2221.

©  2020 Science Alert. All Rights Reserved