Proceedings-Artikel
Adaptive Stair-climbing Behaviour with a Hybrid Legged-Wheeled Robot
Markus Eich; Felix Grimminger; Frank Kirchner
In: L. Marques; A.de Almeida; M.O. Tokhi; G.S. Virk (Hrsg.). Advances in Mobile Robotics. 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. CLAWAR-2008, September 8-10, Coimbra, Portugal, Pages 768-775, ISBN 978-981-283-576-5, World Scientific Publishing Co. Pte. Ltd. Danvers, MA, USA, 2008.
Abstract
Inspired by quadruped animals we developed the hybrid legged-wheeled robot Asguard. We showed already that this robot is able to cope with a variety of stairs, very rough terrain, and is able to move very fast on at ground. We will describe a versatile adaptive control approach for such a system which is based only on proprioceptive data. An additional inclination and roll feedback is used to make the same controller more robust in terms of stair-climbing capabilities. At the same time, high velocities can be reached on at ground without changing the configuration of the system. By using twenty compliant legs, which are mounted around four individually rotating hip-shafts, we abstract from the biological system. For the locomotion control we use an abstract model of bio-inspired Central Pattern Generators (CPG) which can be found in biological systems from humans to insects. In contrast to existing work, Asguard uses the sensed feedback of the environment to adapt the walking pattern in real time.