Trot-Like Roller-Skating of Quadrupedal Robot with Passive Wheels

Jiawei Chen; Hao Chen; Kun Xu; Xilun Ding

doi:10.1109/ROBIO55434.2022.10011656

Trot-Like Roller-Skating of Quadrupedal Robot with Passive Wheels

Jiawei Chen
, Hao Chen
, Kun Xu^*
, Xilun Ding

^*此作品的通讯作者

机械工程及自动化学院

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

3 引用（Scopus）

摘要

Inspired by humans, roller-skating for the quadrupedal robot is a special method to improve efficiency on flat ground. A new trot-like roller-skating gait for the quadrupedal robot with passive wheels is proposed to promote its mobile efficiency. A simple structure is used to install passive wheels on feet based on the typical quadruped robot for making up the quadrupedal robot with passive wheels. This quadrupedal robot has the same active degrees of freedom as the typical quadruped robot. The quadrupedal robot utilizes the non-holonomic constraint on both diagonal legs to achieve the trot-like roller-skating gait. The proposed trot-like roller-skating is verified in simulations and experiments. The results prove that the proposed roller-skating gait has a higher speed than a trot gait with the same energy consumption and higher efficiency than the pace-like roller-skating gait.

源语言	英语
主期刊名	2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
出版商	Institute of Electrical and Electronics Engineers Inc.
页	1402-1407
页数	6
ISBN（电子版）	9781665481090
DOI	https://doi.org/10.1109/ROBIO55434.2022.10011656
出版状态	已出版 - 2022
活动	2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022 - Jinghong, 中国期限: 5 12月 2022 → 9 12月 2022

出版系列

姓名	2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

会议

会议	2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
国家/地区	中国
市	Jinghong
时期	5/12/22 → 9/12/22

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 7 经济适用的清洁能源

访问文件

10.1109/ROBIO55434.2022.10011656

其它文件与链接

链接到 Scopus 的出版物

引用此

Chen, J., Chen, H., Xu, K., & Ding, X. (2022). Trot-Like Roller-Skating of Quadrupedal Robot with Passive Wheels. 在 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022 (页码 1402-1407). (2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO55434.2022.10011656

@inproceedings{9a774bcb10e04b70a380a943f32aaae1,

title = "Trot-Like Roller-Skating of Quadrupedal Robot with Passive Wheels",

abstract = "Inspired by humans, roller-skating for the quadrupedal robot is a special method to improve efficiency on flat ground. A new trot-like roller-skating gait for the quadrupedal robot with passive wheels is proposed to promote its mobile efficiency. A simple structure is used to install passive wheels on feet based on the typical quadruped robot for making up the quadrupedal robot with passive wheels. This quadrupedal robot has the same active degrees of freedom as the typical quadruped robot. The quadrupedal robot utilizes the non-holonomic constraint on both diagonal legs to achieve the trot-like roller-skating gait. The proposed trot-like roller-skating is verified in simulations and experiments. The results prove that the proposed roller-skating gait has a higher speed than a trot gait with the same energy consumption and higher efficiency than the pace-like roller-skating gait.",

keywords = "nonholonomic constraint, quadrupedal robot, roller-skating",

author = "Jiawei Chen and Hao Chen and Kun Xu and Xilun Ding",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022 ; Conference date: 05-12-2022 Through 09-12-2022",

year = "2022",

doi = "10.1109/ROBIO55434.2022.10011656",

language = "英语",

series = "2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022",

address = "美国",

}

Chen, J, Chen, H, Xu, K & Ding, X 2022, Trot-Like Roller-Skating of Quadrupedal Robot with Passive Wheels. 在 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022. 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022, Institute of Electrical and Electronics Engineers Inc., 页码 1402-1407, 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022, Jinghong, 中国, 5/12/22. https://doi.org/10.1109/ROBIO55434.2022.10011656

Trot-Like Roller-Skating of Quadrupedal Robot with Passive Wheels. / Chen, Jiawei; Chen, Hao; Xu, Kun 等.
2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022. Institute of Electrical and Electronics Engineers Inc., 2022. 页码 1402-1407 (2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Trot-Like Roller-Skating of Quadrupedal Robot with Passive Wheels

AU - Chen, Jiawei

AU - Chen, Hao

AU - Xu, Kun

AU - Ding, Xilun

PY - 2022

Y1 - 2022

N2 - Inspired by humans, roller-skating for the quadrupedal robot is a special method to improve efficiency on flat ground. A new trot-like roller-skating gait for the quadrupedal robot with passive wheels is proposed to promote its mobile efficiency. A simple structure is used to install passive wheels on feet based on the typical quadruped robot for making up the quadrupedal robot with passive wheels. This quadrupedal robot has the same active degrees of freedom as the typical quadruped robot. The quadrupedal robot utilizes the non-holonomic constraint on both diagonal legs to achieve the trot-like roller-skating gait. The proposed trot-like roller-skating is verified in simulations and experiments. The results prove that the proposed roller-skating gait has a higher speed than a trot gait with the same energy consumption and higher efficiency than the pace-like roller-skating gait.

AB - Inspired by humans, roller-skating for the quadrupedal robot is a special method to improve efficiency on flat ground. A new trot-like roller-skating gait for the quadrupedal robot with passive wheels is proposed to promote its mobile efficiency. A simple structure is used to install passive wheels on feet based on the typical quadruped robot for making up the quadrupedal robot with passive wheels. This quadrupedal robot has the same active degrees of freedom as the typical quadruped robot. The quadrupedal robot utilizes the non-holonomic constraint on both diagonal legs to achieve the trot-like roller-skating gait. The proposed trot-like roller-skating is verified in simulations and experiments. The results prove that the proposed roller-skating gait has a higher speed than a trot gait with the same energy consumption and higher efficiency than the pace-like roller-skating gait.

KW - nonholonomic constraint

KW - quadrupedal robot

KW - roller-skating

UR - https://www.scopus.com/pages/publications/85147332272

U2 - 10.1109/ROBIO55434.2022.10011656

DO - 10.1109/ROBIO55434.2022.10011656

M3 - 会议稿件

AN - SCOPUS:85147332272

T3 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

SP - 1402

EP - 1407

BT - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

Y2 - 5 December 2022 through 9 December 2022

ER -

Chen J, Chen H, Xu K , Ding X. Trot-Like Roller-Skating of Quadrupedal Robot with Passive Wheels. 在 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022. Institute of Electrical and Electronics Engineers Inc. 2022. 页码 1402-1407. (2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022). doi: 10.1109/ROBIO55434.2022.10011656

Trot-Like Roller-Skating of Quadrupedal Robot with Passive Wheels

摘要

出版系列

会议

联合国可持续发展目标

访问文件

其它文件与链接

指纹

引用此