TurboQuad: A Novel Leg-Wheel Transformable Robot With Smooth and Fast Behavioral Transitions
TurboQuad: A Novel Leg-Wheel Transformable Robot With Smooth and Fast Behavioral Transitions
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DOI：
10.1109/tro.2017.2696022
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发表时间：
2017-10-01
影响因子：
7.8
通讯作者：
Lin, Pei-Chun
中科院分区：
文献类型：
--
作者：
Chen, Wei-Hsi;Lin, Hung-Sheng;Lin, Pei-Chun
本报告介绍了一种名为 TurboQuad 的新型腿轮可变形机器人的设计、控制策略、实现和性能评估，该机器人可以在轮式模式、腿式小跑和运动中腿式行走中执行快速步态/模式协调和转换。此功能是通过在机器人中包含两个新颖的设置来实现的，这两个设置未包含在其前身 Quattroped 中。首先，采用了新型的腿轮机构，腿/轮的操作及其原位转换可以由同一组电机驱动，因此可以有效地利用驱动系统和动力。其次，应用基于中央模式发生器和耦合振荡器网络的仿生控制策略，其中可以整体控制步态/模式的生成、协调和转换。该机器人是根据经验构建的，其在所描述的三种步态/模式下的性能以及它们之间的转换都经过实验评估，并将在本文中进行讨论。
This report is on the design, control strategy, implementation, and performance evaluation of a novel leg-wheel transformable robot called TurboQuad, which can perform fast gait/mode coordination and transitions in wheeled mode, in legged trotting, and in legged walking while in motion. This functionality was achieved by including two novel setups in the robot that were not included in its predecessor, Quattroped. First, a new leg-wheel mechanism was used, in which the leg/wheel operation and its in situ transition can be driven by the same set of motors, so the actuation system and power can be utilized efficiently. Second, a bioinspired control strategy was applied based on the central pattern generator and coupled oscillator networks, in which the gait/mode generation, coordination, and transitions can be integrally controlled. The robot was empirically built and its performances in the described three gaits/modes as well as the transitions among them were experimentally evaluated and will be discussed in this paper.