Trajectory generation algorithm for smooth movement of a hybrid-type robot Rocker-Pillar View Full Text


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Article Info

DATE

2016-11

AUTHORS

Seungmin Jung, Dongkyu Choi, Hwa Soo Kim, Jongwon Kim

ABSTRACT

While traveling on rough terrain, smooth movement of a mobile robot plays an important role in carrying out the given tasks successfully. This paper describes the trajectory generation algorithm for smooth movement of hybrid-type mobile robot Rocker-Pillar by adjusting the angular velocity of its caterpillar as well as each wheel velocity in such a manner to minimize a proper index for smoothness. To this end, a new Smoothness index (SI) is first suggested to evaluate the smoothness of movement of Rocker-Pillar. Then, the trajectory generation algorithm is proposed to reduce the undesired oscillations of its Center of mass (CoM). The experiment are performed to examine the movement of Rocker-Pillar climbing up the step whose height is twice larger than its wheel radius. It is verified that the resulting SI is improved by more than 40 % so that the movement of Rocker-Pillar becomes much smoother by the proposed trajectory algorithm. More... »

PAGES

5217-5224

References to SciGraph publications

  • 2015-11. Hopping system control with an approximated dynamics model and upper-body motion in JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
  • 2013-01. Optimal design of hand-carrying rocker-bogie mechanism for stair climbing in JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
  • 2013-01. Design of a slider-crank leg mechanism for mobile hopping robotic platforms in JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
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    http://scigraph.springernature.com/pub.10.1007/s12206-016-1039-z

    DOI

    http://dx.doi.org/10.1007/s12206-016-1039-z

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