Abstract
Roller-walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tip of each leg. The passive wheel can be transformed into sole mode by rotating ankle roll joints when roller-walker walks on rough terrain. This paper describes adaptation of characteristics of the propulsion by a leg trajectory in the case of wheeled locomotion. Firstly, the authors demonstrate that Roller-Walker could achieve high-speed propulsion and slope climbing propulsion by simply changing parameters of the leg trajectory on the hardware experiments. Secondly, an asymptotic parameter tuning method is introduced to perform specified velocity on the different surfaces with different friction. The method is evaluated in numerical simulations. The results suggest that the method allows the Roller-Walker to have a function similar to an automatic transmission of a usual car.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
