Dynamic Rolling-Walk Motion by the Limb Mechanism Robot ASTERISK

Abstract

New dynamic rolling-walk motion for a multi-legged robot with error compensation is proposed. The motion is realized by using the isotropic leg arrangement and the dynamic center of mass control inspired by bipedal robots. By using the preview control of the zero moment point (ZMP) with a cart-table model based on the bipedal robot's technique, the robot's center of mass trajectory is planned for the dynamic motion. The resolved momentum control for manipulating the multi-links robot as a single mass model is also implemented in the system to maintain the stability of the robot. In the new dynamic rolling-walk motion, the robot switches between the two-leg supporting phase and three-leg supporting phase to achieve dynamic motion with the preview control of the ZMP and resolved momentum control as dynamic motion controllers. The authors analyzed the motion and confirmed the feasibility in the Open Dynamics Engine before testing the motion with an actual robot. Due to the difficulties of controlling the ZMP during the two-leg supporting phase, the authors implemented error compensation by using a gyro sensor and compared the results.