Locomotion Control of Quadrupedal Robot With Passive Wheels Based on CoI Dynamics on SE(3)

Roller-skating for a quadrupedal robot with passive wheels has higher efficiency than traditional walking. A new quadruped robot with passive wheels is designed to realize roller-skating and walking by switching configurations. An ingenious struct that combines the passive wheel and foot is designed...

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Veröffentlicht in:	IEEE transactions on industrial electronics (1982) 2024-07, Vol.71 (7), p.1-10
Hauptverfasser:	Chen, Jiawei, Xu, Kun, Qin, Ripeng, Ding, Xilun
Format:	Artikel
Sprache:	eng
Schlagworte:	Center of inertia (CoI) Configurations Controllers Coordinates Dynamics dynamics control Force distribution Internal forces Legged locomotion Locomotion quadrupedal robot Quadrupedal robots Robot control Robot dynamics Robot kinematics Robots Roller skating Trajectory Walking Wheels
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