Self-Adaptive underactuated hybrid rolling/walking locomotion

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In planetary exploration and other similar robotic applications, it is possible to encounter obstacles on multiple scales, making it difficult to design wheeled locomotion that works well for all terrain types. Legged locomotion tends to be less efficient and slower, but allows better obstacle clearance. This paper describes a novel method of achieving robotic locomotion over uneven terrain using a passive underactuation technique. Using planetary gear trains with one input degree of freedom and two output degrees of freedom, the natural obstacle-based locking of select outputs can cause the transition of power through the alternate outputs. By designing the primary outputs as wheels and the secondary outputs as legs with more ground clearance, a naturally adaptive hybrid gait incorporating both rolling and walking can be generated without the need for sophisticated sensing and control. Derivation and simulation validation are presented.

Original languageEnglish (US)
Title of host publicationASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
Pages951-956
Number of pages6
EditionPARTS A AND B
DOIs
StatePublished - Dec 1 2012
EventASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012 - Chicago, IL, United States
Duration: Aug 12 2012Aug 12 2012

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A AND B
Volume4

Conference

ConferenceASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
CountryUnited States
CityChicago, IL
Period8/12/128/12/12

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ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

Cite this

Nelson, C. A. (2012). Self-Adaptive underactuated hybrid rolling/walking locomotion. In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012 (PARTS A AND B ed., pp. 951-956). (Proceedings of the ASME Design Engineering Technical Conference; Vol. 4, No. PARTS A AND B). https://doi.org/10.1115/DETC2012-71394