Wheel-Based Stair Climbing Robot with Hopping Mechanism - Fast Stair Climbing and Soft Landing Using Vibration of 2-DOF System -

Keisuke Sakaguchi; Takayuki Sudo; Naoki Bushida; Yasuhiro Chiba; Yuji Asai; Koki Kikuchi

doi:10.20965/jrm.2007.p0258

single-rb.php

« previous

JRM Vol.19 No.3 pp. 258-263

doi: 10.20965/jrm.2007.p0258

(2007)

Paper:

Views over last 60 days: 669

Wheel-Based Stair Climbing Robot with Hopping Mechanism - Fast Stair Climbing and Soft Landing Using Vibration of 2-DOF System -

Keisuke Sakaguchi^*, Takayuki Sudo^**, Naoki Bushida^,
Yasuhiro Chiba^, Yuji Asai^*, and Koki Kikuchi^***

^*Dept. of Mechanical Science and Engineering, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan

^**Mitsubishi Electric Systems and Service Co., LTD., 4-1-1 Taishido, Setagaya-ku, Tokyo 154-8520, Japan

^***Dept. of Advanced Robotics, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan

Received:

October 24, 2006

Accepted:

May 9, 2007

Published:

June 20, 2007

Keywords:

hopping robot, vibration of 2-DOF system, stair climbing, soft landing

Abstract

We propose a simple hopping mechanism using the vibration of a two-degrees-of-freedom (DOF) system for a fast stair-climbing robot. The robot, consisting of two bodies connected by springs, hops by releasing energy stored in springs and travels quickly using wheels mounted on its lower body. The trajectories of bodies during hopping change based on design parameters such as the reduced mass of the two bodies, mass ratio between the upper and lower bodies, spring constant, and control parameters such as initial contraction of the spring and wire tension. This property allows the robot to quickly and economically climb stairs and land softly. In this paper, the characteristics of hopping for the design and control parameters are clarified by both numerical simulation and experiments. Furthermore, fast stair climbing and soft landing are demonstrated.

Cite this article as:

K. Sakaguchi, T. Sudo, N. Bushida, Y. Chiba, Y. Asai, and K. Kikuchi, “Wheel-Based Stair Climbing Robot with Hopping Mechanism - Fast Stair Climbing and Soft Landing Using Vibration of 2-DOF System -,” J. Robot. Mechatron., Vol.19 No.3, pp. 258-263, 2007.

Data files:

References

[1] Y. Uchida, K. Furuichi, and S. Hirose, “Fundamental Performance of 6 Wheeled Off-Road Vehicle HELIOS-V,” Proc. IEEE, Int. Conf. on Robotics and Automation, pp. 2336-2341, 1999.
[2] H. W. Stone, “Mars Pathfinder Microrover-a Small, Low-Cost, Low-Power Spacecraft,” Proc. of the 1996 AIAA Forum on Advanced Developments in Space Robotics, Madison, WI, 1996.
[3] S. Nakajima, E. Nakano, and T. Takahashi, “Motion Control Technique for Practical Use of a Leg-Wheel Robot on Unknown Outdoor Rough Terrains,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.1, pp. 1353-1358, 2004.
[4] S. Hirose, F. E. Fukushima, R. Damoto, and H. Nakamoto, “Design of Terrain Adaptive Versatile Crawler Vehicle HELIOS-VI,” Proc. of the 2001 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1540-1545, 2001.
[5] T. Takubo, T. Arai, K. Inoue, T. Tsurutani, Y. Hayashibara, and E. Koyanagi, “Development of Limb Mechanism Robot ASTERISK,” J. of Robotics and Mechatronics, Vol.18, No.2, 2006.
[6] R. Altendorfer, E. Z. Moore, H. Komsuoglu, M. Buehler, H. Brown, D. McMordie, U. Saranli, R. Full, and D. E. Koditschek, “A Biologically Inspired Hexapod Runner,” Autonomous Robots, Vol.11, pp. 207-213, 2001.
[7] M. Mori and S. Hirose, “Development of Active Cord Mechanism ACM-R3 with Agile 3D mobility,” Proc. IEEE/RSJ Int. Conf. On Intelligent Robot and Systems, pp. 1552-1557, 2001.
[8] E. Nakano, H. Okubo, and H. Kobayashi, “The Landing Control of a Jumping Machine,” J. of RSJ, Vol.9, No.2, pp. 169-176, 1991 (in Japanese).
[9] M. D. Berkemeier and R. S. Fearing, “Siliding and Hopping Gaits for the Underactuated Acrobot,” IEEE Transaction on Robotics and Automation, Vol.14, No.4, pp. 629-634, 1998.
[10] S. Shimoda, T. Kubota, and I. Nakatani, “New Mobility System Based on Elastic Energy under Microgravity,” Proc. Of the 2002 IEEE Int. Conf. On Robotics and Automation, pp. 2296-2301, 2002.
[11] Y. Sugiyama, A. Shiotsu, M. Yamanaka, and S. Hirai, “Circular/Spherical Robots for Crawling and Jumping,” Proc. IEEE Int. Conf. On Robotics and Automation, pp. 3606-3611, 2005.
[12] S. A. Stoeter and N. Papanikolopoulos, “Kinematic Motion Model for Jumping Scout Robot,” IEEE Transaction on Robotics, Vol.22, No.2, pp. 398-403, 2006.
[13] K. Tani and M. Shirai, “A jumping machine using the energy stored in springs,” Proc. IFToMM-jc International Symposium on Theory of Machines and Mechanisms, pp. 265-270, 1992.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] Y. Uchida, K. Furuichi, and S. Hirose, “Fundamental Performance of 6 Wheeled Off-Road Vehicle HELIOS-V,” Proc. IEEE, Int. Conf. on Robotics and Automation, pp. 2336-2341, 1999.

[2] [2] H. W. Stone, “Mars Pathfinder Microrover-a Small, Low-Cost, Low-Power Spacecraft,” Proc. of the 1996 AIAA Forum on Advanced Developments in Space Robotics, Madison, WI, 1996.

[3] [3] S. Nakajima, E. Nakano, and T. Takahashi, “Motion Control Technique for Practical Use of a Leg-Wheel Robot on Unknown Outdoor Rough Terrains,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.1, pp. 1353-1358, 2004.

[4] [4] S. Hirose, F. E. Fukushima, R. Damoto, and H. Nakamoto, “Design of Terrain Adaptive Versatile Crawler Vehicle HELIOS-VI,” Proc. of the 2001 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1540-1545, 2001.

[5] [5] T. Takubo, T. Arai, K. Inoue, T. Tsurutani, Y. Hayashibara, and E. Koyanagi, “Development of Limb Mechanism Robot ASTERISK,” J. of Robotics and Mechatronics, Vol.18, No.2, 2006.

[6] [6] R. Altendorfer, E. Z. Moore, H. Komsuoglu, M. Buehler, H. Brown, D. McMordie, U. Saranli, R. Full, and D. E. Koditschek, “A Biologically Inspired Hexapod Runner,” Autonomous Robots, Vol.11, pp. 207-213, 2001.

[7] [7] M. Mori and S. Hirose, “Development of Active Cord Mechanism ACM-R3 with Agile 3D mobility,” Proc. IEEE/RSJ Int. Conf. On Intelligent Robot and Systems, pp. 1552-1557, 2001.

[8] [8] E. Nakano, H. Okubo, and H. Kobayashi, “The Landing Control of a Jumping Machine,” J. of RSJ, Vol.9, No.2, pp. 169-176, 1991 (in Japanese).

[9] [9] M. D. Berkemeier and R. S. Fearing, “Siliding and Hopping Gaits for the Underactuated Acrobot,” IEEE Transaction on Robotics and Automation, Vol.14, No.4, pp. 629-634, 1998.

[10] [10] S. Shimoda, T. Kubota, and I. Nakatani, “New Mobility System Based on Elastic Energy under Microgravity,” Proc. Of the 2002 IEEE Int. Conf. On Robotics and Automation, pp. 2296-2301, 2002.

[11] [11] Y. Sugiyama, A. Shiotsu, M. Yamanaka, and S. Hirai, “Circular/Spherical Robots for Crawling and Jumping,” Proc. IEEE Int. Conf. On Robotics and Automation, pp. 3606-3611, 2005.

[12] [12] S. A. Stoeter and N. Papanikolopoulos, “Kinematic Motion Model for Jumping Scout Robot,” IEEE Transaction on Robotics, Vol.22, No.2, pp. 398-403, 2006.

[13] [13] K. Tani and M. Shirai, “A jumping machine using the energy stored in springs,” Proc. IFToMM-jc International Symposium on Theory of Machines and Mechanisms, pp. 265-270, 1992.

Wheel-Based Stair Climbing Robot with Hopping Mechanism - Fast Stair Climbing and Soft Landing Using Vibration of 2-DOF System -

Keisuke Sakaguchi*, Takayuki Sudo**, Naoki Bushida*, Yasuhiro Chiba*, Yuji Asai*, and Koki Kikuchi***

Keisuke Sakaguchi^*, Takayuki Sudo^**, Naoki Bushida^,
Yasuhiro Chiba^, Yuji Asai^*, and Koki Kikuchi^***