Hybrid Mobile Robot Research Articles

Design and Control Architecture of a Small Mobile Robot with Hybrid Locomotion System

This paper presents design and control architecture of a small mobile robot with hybrid locomotion system. It consist the combination of wheel and track type motion system resulting as a hybrid mechanism. The wheel locomotion system helps the robot to move on flat surface or path platform with high velocity, high manoeuvrability at low energy consumption. The track system is designed for rough and unstructured path, where robot need to cross irregular surface with high stability. This system works on interchangeable locomotion phenomena by means of track tensioner unit (TTU). The TTU helps the loading and unloading of track system by means of rack and pinion mechanism. This design of small hybrid mobile robot is improves robot applications and also enhance its flexibilty, verstality to work in multi type of terrains.

허리 구조를 갖는 복합 바퀴-다리 이동형 로봇의 설계

본 논문에서는 허리 구조를 갖는 복합 바퀴-다리 이동형 로봇의 설계 방법을 제안한다. 제안된 복합 이동형 로봇은 비평탄 및 평탄 지형에서의 효과적인 이동을 위하여 로봇의 다리에 바퀴가 결합된 복합 바퀴-다리 구조와 로봇 주행 중 보행 자세로의 안정적인 전환과 비평탄 지형에서 기구적인 제한의 개선을 위하여 허리 관절을 갖는 구조로 설계하였다. 또한 다양한 지형을 인지하기 위하여 LRF센서, PSD센서, CCD 카메라를 사용하였다. 제안한 로봇 시스템의 검증을 위해 지형별 주행과 보행 자세를 선택할 수 있는 운동 계획 기법을 제안하였다. 실제 복합 바퀴-다리 이동형 로봇을 설계 및 제작하고, 제안된 운동계획을 사용한 실험을 통해 지형에 따른 효율적인 이동 성능을 검증하였다. In this paper, we design a hybrid wheeled and legged mobile robot with a waist joint. The proposed hybrid mobile robot is designed to have a hybrid structure with leg and wheel for the efficient movement in flat and uneven surfaces. The proposed robot have a waist joint that is used to stably transform from wheeled driving to legged walking of the robot and to overcome non-flat surface. In order to recognize various environments we use LRF sensor, PSD sensor, CCD camera. Also, a motion planning method for hybrid mobile robot with a waist joint is proposed to select wheeled driving motion and legged walking motion of the robot based the environment types. We verify the efficient mobility of the developed hybrid mobile robot through navigation experiments using the proposed motion planning method in various environments.

1P1-N01 受動車輪を持つ二脚ローラーウォーカーの開発(特殊移動ロボット(1))

The Roller-Walker is one of wheel-legged hybrid mobile robots. It has passive wheels on the tip of each leg and locomotes by the similar principle of the roller skating. The motion of the Roller-Walker is able to be discussed as a system with nonholonomic constraints by assuming each wheel does not slip sideways. In this paper, a two legged Roller-Walker is considered, and we derive the condition for generating a straight motion and a pivot turn motion based on the nonholonomic velocity constraint of wheels. Moreover, we developed a two legged Roller-Walker, and a straight motion, a pivot turn motion and a right or left turn motion are achieved by experiments.

Study on Characteristics of Passive Wheel Typed Robot

This paper put forward a new type of leg-wheeled hybrid mobile robot installed passive wheels at the ends of the legs, we call this typed robot as Ice-skater robot, An analysis and improvement upon the original structure of skating robot is proposed, The paper gives the model of the robot kinematics and a simulation was carried out upon the moving characteristics of the skating robot while it was sliding.

Design and operation of a 2-DOF leg–wheel hybrid robot

SUMMARYIn this paper the design and operation for a 2-Degree-of-Freedom, leg–wheel hybrid mobile robot are presented. A prototype of a low-cost and easy-to-use system, which is capable of straight walking and steering with two actuators only, has been designed and built. Simulation and experimental tests have been carried out to verify the engineering feasibility and operation of the proposed solution. The designed robot can be used for applications such as surveillance and inspection of disaster sites.

Analysis on Energy Efficiency of a Rolling-Jumping Robot

Selecting a suitable locomotion way for a mobile robot is critical for succeeding its mission. This paper introduces a cylinder-like robot that can locomote by means of either rolling or jumping on the ground. First, design of the robot is described to explain the mechanism for enabling rolling and jumping by using only one DC motor. Second, the design is analyzed in terms of energy efficiency and compared to a couple of hybrid mobile robots.

Autonomous terrain adaptation and user-friendly tele-operation of wheel-track hybrid mobile robot

This paper presents a terrain-adaptive wheel-track hybrid robot that uses a pair of combined wheel and track systems. The hybrid mobile platform can change the shape of track to adapt to various terrains so that it is able to move fast on flat terrain and to show good performance in overcoming stairs or obstacles. The proposed platform consists of an ordinary wheel structure for fast navigation on flat floors and a transformable tracked structure for climbing stairs effectively. In detail, three track arms installed on each side of the platform are used for the navigation mode transition between flatland navigation and stair climbing. The mode transition is determined and implemented by the adaptive driving mode control of the mobile robot. This wheel-track hybrid mobile platform is evaluated through experiments that assess its navigation performance in real and test-bed environments. This hybrid mobile robot is embodied to perform given tasks in a hazardous environment for surveillance, reconnaissance, and search and rescue applications.

Study on Roller-Walker — Improvement of Locomotive Efficiency of Quadruped Robots by Passive Wheels

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 the ankle roll joint when Roller-Walker walks on a rough terrain. This paper discusses the energy efficiency of locomotion in wheeled mode. We define a leg trajectory to produce forward straight propulsion, and discuss the relationships between the parameters of the leg trajectory and energy efficiency of the propulsion using a dynamics simulator. We find optimum parameter sets where optimization criterion is specific resistance. The results indicate that faster locomotion achieves higher energy efficiency. We then carry out hardware experiments and empirically derive the experimental specific resistance. We show that wheeled locomotion has an 8-times higher energy efficiency than the ordinary crawl gait. Finally, we compare the specific resistance of Roller-Walker with other walking robots described in the literature.

2A2-M01 ローラーウォーカーに関する研究:第12報:脚の抜重によるローラーウォークの高速化(特殊移動ロボット(2))

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 a sole mode by rotating the ankle roll joint when Roller-Walker walks on rough terrain. This paper proposes a velocity increase method by the vertical leg movement in order to adjust weight distribution of the leg in accordance with a proper phase of the cyclic horizontal leg movement. We carried out hardware experiments and confirmed slight velocity increase.

결합 가능한 복합 바퀴-다리 이동형 로봇에 관한 연구

There are many researches to develop robots that improve its mobility to adapt in various uneven environments. In the paper, a hybrid mobile robot that can dock with the other robot and transforms between wheeled robot and legged robot is proposed. The hybrid mobile robot platform has docking device with a peg and a cup module. In addition, the robot is possible to walk and drive according to condition of the road. A navigation algorithm of the hybrid mobile robot is proposed to improve the mobility of robots using docking algorithm based on image processing on the broken road and uneven terrain. The proposed method recognizes road condition through PSD sensor attached in front and bottom of the robot and selects an appropriate navigation method according to terrain surface. The proposed docking and navigation methods are verified through experiments using hybrid mobile robots.

Running Model for a Compliant Wheel-Leg Hybrid Mobile Robot by Using a Mass-Spring Model

This research presents a running model for a compliant wheel-leg hybrid mobile robot. A wheel-leg consists of three legs arranged by 120 degrees to each other and passive compliant joints. For simplicity, each leg is treated as a linear spring such that a traditional mass-spring model can be applied to model running of the wheel-leg hybrid robot. In order to achieve stable running, we propose a simple controller that can converge a robot leg to a desired angle of attack asymptotically during the swing phase. Hybrid wheel-leg running is then simulated and results are discussed.

動作自由度数を低減した脚車輪型移動ロボットの駆動機構と歩行および走行の双方向切り換え制御

This paper proposes a design concept for renovating a legged robot to a hybrid mobile robot with minimal degrees of freedom (4DOFs) and its motion analysis for switching locomotion from leg-type to wheel-type and vice versa. For the leg-type locomotion, specifically in the transitional state of sitting or standing, we show the control method based on minimization of total energy cost considering the distribution of a motor power payload in hip and knee joints using a motor specification. Also, we discuss robot configurations for switching between the two types under such environmental factors like walking gaits, ground inclination angle and traveling direction. Knee joint position of a pivotal foot determines knee ahead and knee behind gaits. Then we find three beneficial switching types aiming for moderate use of motor, rider's comfort, and energy saving. Moreover, we clarify the control method for changing traveling direction within a switching period. Finally, we demonstrate the switching and verify that the results of the analysis become useful for enabling the switch on demand. Also, the demonstration verifies that the robot can generate a steering function while it switches between the two types of locomotion.

Articulated hybrid mobile robot mechanism with compounded mobility and manipulation and on-board wireless sensor/actuator control interfaces

This paper presents the development of a remotely operated mobile robot system with a hybrid mechanism whereby the locomotion platform and manipulator arm are designed as one entity to support both locomotion and manipulation interchangeably. The mechanical design is briefly described as well as the dynamic simulations used to analyze the robot mobility and functionality. As part of the development, this paper mainly focuses on a new generalized control hardware architecture based on embedded on-board wireless communication network between the robot’s subsystems. This approach results in a modular control hardware architecture since no wire connections are used between the actuators and sensors in each of the mobile robot subsystems and also provides operational fault-tolerance. The effectiveness of this approach is experimentally demonstrated and validated by implementing it in the hybrid mobile robot system. The new control hardware architecture and mechanical design demonstrate the qualitative and quantitative performance improvements of the mobile robot in terms of the new locomotion and manipulation capabilities it provides. Experimental results are presented to demonstrate new operative tasks that the robot was able to accomplish, such as traversing challenging obstacles, and manipulating objects of various capacities; functions often required in various challenging applications, such as search and rescue missions, hazardous site inspections, and planetary explorations.

Modeling and Simulation of a Six-Leg-Wheel Hybrid Mobile Robot Based on ADAMS

The dynamic modeling of a six-leg-wheel hybrid mobile robot was built using ADAMS software in this paper. Using the ADAMS model, the kinematic simulation, including the displacement, velocity and acceleration of each part of the robot, can be carried out and the dynamic simulation, including driving torque of joints, contact force and torque between the wheels with ground and the ability of obstacle negotiation, can also be achieved. The simulation examples were presented. The simulation analyses provide the theory basis for the design of the robot control system based on dynamics.

Experimental validation and field performance metrics of a hybrid mobile robot mechanism

AbstractThis paper presents the experimental validation and field testing of a novel hybrid mobile robot (HMR) system using a complete physical prototype. The mobile robot system consists of a hybrid mechanism whereby the locomotion platform and manipulator arm are designed as one entity to support both locomotion and manipulation symbiotically and interchangeably. The mechanical design is briefly described along with the related control hardware architecture based on an embedded onboard wireless communication network between the robot's subsystems, including distributed onboard power using Li‐ion batteries. The paper focuses on demonstrating through extensive experimental results the qualitative and quantitative field performance improvements of the mechanical design and how it significantly enhances mobile robot functionality in terms of the new operative locomotion and manipulation capabilities that it provides. In terms of traversing challenging obstacles, the robot was able to surmount cylindrical obstacles up to 0.6‐m diameter; cross ditches with at least 0.635‐m width; climb and descend step obstacles up to 0.7‐m height; and climb and descend stairs of different materials (wood, metal, concrete, plastic plaster, etc.), different stair riser and run sizes, and inclinations up to 60 deg. The robot also demonstrated the ability to manipulate objects up to 61 kg before and after flipping over, including pushing capacity of up to 61 kg when lifting objects from underneath. The above‐mentioned functions are critical in various challenging applications, such as search and rescue missions, military and police operations, and hazardous site inspections. © 2010 Wiley Periodicals, Inc.

2A1-F13 脚車輪ハイブリッド移動体の研究 : 第2報:4肢モデルの構築

There are a lot of academic studies on the leg-wheel hybrid mobile robot with the high mobility by combining both functions of legs and wheels. In case each of locomotion has its own actuators, actuators for one locomotion become load for another. In case the wheel-drive mode uses passive wheels to limit the number of actuators, the performance of high efficiency in the wheel-drive mode does not work very well because of the cyclic motion of legs for its propulsion. In this paper, a prototyep model is composed of four limb modules with the proposal drive system. The drive system limits the number of actuators to the minimum required for the leg function, and requires no cyclic motion in the wheel-drive mode. The performance of the prototype model is described.

クローラ可変型４足歩行ロボットＴＩＴＡＮ Ｘの開発―脚機構の基本設計と動作実験―

We propose track-changeable quadruped walking robot, named “TITAN X”. TITAN X is a novel leg-track hybrid mobile robot with a special leg driving system on each leg. Driving belt on each leg changes to a timing-belt in leg form and a track-belt in track form. TITAN X walks in leg form on rough terrain and makes tracked locomotion using track-belt on level or comparatively low-rough terrain. The characteristics of TITAN X are: 1) it has a hybrid function but is lightweight, 2) it has potential capabilities to demonstrate high-performance on highly-rough terrain. In this paper, details of leg design with special belt are reported. Also form change mechanism are integrated into the system. We have constructed prototype of TITAN X and successfully demonstrated basic performance of TITAN X and the validity of the concept of a track-changeable walking robot.

The Epi.q-1 Hybrid Mobile Robot

In this paper we propose an innovative solution for a small size hybrid mobile robot called Epi.q-1. Overall dimensions are about 160 mm x 360 mm x 280 mm (height x length x width). The Epi.q-1 robot moves on flat, steep or uneven ground. It can climb over obstacles or steps, even if they are non-uniform in size. Its operating mode adapts to ground conditions and changes accordingly: from rolling (on wheels) to stepping (on legs); thanks to its great mobility it can follow complex routes. It is easy to control with just a few actuators. Robot locomotion drive-generating units employ an original driving mechanism, where degrees of freedom (DOFs) can be limited to some extent according to the operating conditions or thanks to a switching device. Locomotion units consist of a motor linked to a gear (double epicyclical chain) and an axial device (mini-motor and lead screw system) able to lock or unlock some DOFs of the kinematic chain. Moreover, the robot locomotion unit can change its size, from small to large and vice versa, in order to be able to reach restricted spaces and to overcome even quite tall obstacles. It was experimentally tested on flat ground and slopes. It can overcome 90 mm obstacles, that are 72% of the height of the locomotion unit, and climb stairs.

2P1-B18 脚車輪ハイブリッド移動体の研究 : 移動形態を考慮した駆動系の提案

2P1-B18 脚車輪ハイブリッド移動体の研究 : 移動形態を考慮した駆動系の提案

2P1-D19 大車輪径を構成可能な脚車輪可変モジュール : 移動ロボットへの適応例

2P1-D19 大車輪径を構成可能な脚車輪可変モジュール : 移動ロボットへの適応例