Control of a Four-Forked Steering Walker—Design of Virtual Mechanical Elements Based on Desired Motions

  • Hiroaki Yamaguchi
  • Ryosuke Takahashi
  • Atsushi Kawakami
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)

Abstract

This paper presents a new undulatory locomotor, a four-forked steering walker, and introduces a quite new design methodology of virtual mechanical elements which facilitates to achieve desired motions. The four-forked steering walker transforms periodic changes in shape into movement as if it performs roller skating. The virtual mechanical elements are originally defined solely for conversion of kinematical equations of the locomotor into a chained form. It is shown in this paper that such definition has another aspect in which the virtual mechanical elements enabling the conversion can be also designed according to desired motions. Specifically, the base of the locomotor can be replaced with a virtual base and its shape and locations of the virtual mechanical elements on the virtual base can be modified according to path-following and gyrating motions. The validity of the design methodology is verified experimentally.

Keywords

Nonholonomic system Undulatory locomotion Differential geometry Chained form Virtual mechanical element 

References

  1. 1.
    Hirose, S.: Biologically Inspired Robots (Snake-like Locomotors and Manipulators). Oxford University Press (1993).Google Scholar
  2. 2.
    Hirose, S., Takeuchi, H.: Study on Roller-Walk (Basic Characteristics and Its Control). In. 1996 IEEE International Conference on Robotics and Automation, pp. 3265–3270 (1996).Google Scholar
  3. 3.
    Ostrowski, J.P., Burdick, J.W.: The Geometric Mechanics of Undulatory Robotic Locomotion. Int. J. Robotics Research, 17(7), 683–701 (1998).CrossRefGoogle Scholar
  4. 4.
    Krishnaprasad, P.S., Tsakiris, D.P.: Oscillations, SE(2)-Snakes and Motion Control: a Study of the Roller Racer. Dynamical Systems. 16(4), 347–397 (2001).MathSciNetCrossRefMATHGoogle Scholar
  5. 5.
    Chitta, S., Heger, F.W., Kumar, V.: Design and Gait Control of a Rollerblading Robot. In. 2004 IEEE International Conference on Robotics and Automation, pp. 3944–3949 (2004).Google Scholar
  6. 6.
    Chitta, S., Cheng, P., Frazzoli, E., Kumar, V.: RoboTrikke: a Novel Undulatory Locomotion System. In. 2005 IEEE International Conference on Robotics and Automation, pp. 1597–1602 (2005).Google Scholar
  7. 7.
    Yamaguchi, H.: A Path Following Feedback Control Law for a New Type of Undulatory Locomotor: A Trident Steering Walker. In: 14th International Conference on Advanced Robotics, pp. 1–6 (2009).Google Scholar
  8. 8.
    Yamaguchi, H.: A Path-following Feedback Control Law with a Variable Velocity of a Trident Steering Walker and its Experimental Verification. In: 8th IFAC Symposium on Nonlinear Control Systems, pp. 1187–1192 (2010).Google Scholar
  9. 9.
    Yamaguchi, H.: Dynamical Analysis of an Undulatory Wheeled Locomotor: A Trident Steering Walker. In: 10th IFAC Symposium on Robot Control. pp. 157–164 (2012).Google Scholar
  10. 10.
    Yamaguchi, H., Takeda, T., Kawakami, A.: Control of a Trident Steering Walker - Design of Motion Parameters Based on a Propulsion Transfer Function - In: Lee, S. et al. (eds.) Intelligent Autonomous Systems 12, Springer, Berlin Heidelberg, pp. 693–705 (2013).CrossRefGoogle Scholar
  11. 11.
    Isidori, A.: Nonlinear Control Systems. New York: Springer-Verlag, Second Edition. (1989).Google Scholar

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Hiroaki Yamaguchi
    • 1
  • Ryosuke Takahashi
    • 1
  • Atsushi Kawakami
    • 1
  1. 1.Department of Integrated Information Technology, College of Science and EngineeringAoyama Gakuin UniversitySagamihara-shiJapan

Personalised recommendations