Simplification of Motion Generation in the Singular Configuration of a Wheel-Legged Mobile Robot

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2019/09/01

タイトル(英語): Simplification of Motion Generation in the Singular Configuration of a Wheel-Legged Mobile Robot

著者名: Kenta Nagano (Faculty of Engineering, Yokohama National University), Yasutaka Fujimoto (Faculty of Engineering, Yokohama National University)

著者名(英語): Kenta Nagano (Faculty of Engineering, Yokohama National University), Yasutaka Fujimoto (Faculty of Engineering, Yokohama National University)

キーワード: wheel-legged mobile robot，inverse kinematic calculation，singular configuration，Levenberg-Marquardt method

要約(英語): Wheel-legged mobile robots (i.e., robots that use leg and wheel mechanisms) have the potential for efficient movement in response to the environment. Singular configuration is an inevitable problem in wheel-legged mobile robots and must be solved to realize motion. This paper proposes a simplification of the motion generation method in the singular configuration of a wheel-legged mobile robot. The problem of inverse kinematic calculations in a wheel-legged mobile robot is first modeled, and a solution method is proposed using an extension of the constraints to the acceleration level and the redundancy of the robot. The singular configuration problem in the low-speed region is then solved using the Levenberg-Marquardt method. A simple decision method using a weighted matrix for the damping factor is also proposed. The method is then verified using a three-dimensional simulation and an experiment.

本誌: IEEJ Journal of Industry Applications Vol.8 No.5 （2019）

本誌掲載ページ: 745-755 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/8/5/8_745/_article/-char/ja/