Zhiguo Lu
Department of Mechanical Engineering and Automation, Northeastern University, Shenyang, 110819, China
Tadayoshi Aoyama
Department of System Cybernetics, Hiroshima University, Hiroshima, Japan
Kosuke Sekiyama
Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya, Japan
Yasuhisa Hasegawa
Department of Systems and Information Engineering, University of Tsukuba, Tsukuba, Japan
Toshio Fukuda
Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya, Japan
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 ladders 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.
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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
DOI: 10.3923/jas.2013.1629.1635
URL: https://scialert.net/abstract/?doi=jas.2013.1629.1635
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