Castano, JA, Zhou, C orcid.org/0000-0002-6677-0855 and Tsagarakis, N (2020) Design a Fall Recovery Strategy for a Wheel-Legged Quadruped Robot Using Stability Feature Space. In: Proceeding of the IEEE International Conference on Robotics and Biomimetics (ROBIO 2019). IEEE International Conference on Robotics and Biomimetics (ROBIO 2019), 06-08 Dec 2019, Dali, China. IEEE , pp. 41-46. ISBN 978-1-7281-6321-5
Abstract
In this paper, we introduced a conceptual analysis to select stability features when performing predefined and precise motions on robots. By analyzing the different stable poses named features and the possible transitions towards different ones, the introduced concept allows to design more predictable and suitable motions when performing particular tasks. As an example of how the concept can be applied we use it on the fall recovery of the quadruped robot CENTAURO. This robot, which is equipped with a custom hybrid wheel-legged mobility system, have good intrinsic stability as other quadrupeds. However, the characteristics of the rough terrains where it might be deployed require complex maneuvers to cope with possible strong disturbances. To prevent and more importantly recover from falls, realignment of postural responses will not be adequate, and effective recovery procedures should be developed. This paper introduces the details of how the presented conceptual analysis provides and an effective fall recovery routine for CENTAURO based on a state machine. The performance of the proposed approach is evaluated with extensive simulation trials using the dynamic model of the CENTAURO robot showing good effectiveness in recovering the robot after fall on flat and inclined surfaces.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2019 IEEE. This is an author produced version of a paper published in Proceeding of the IEEE International Conference on Robotics and Biomimetics (ROBIO 2019). Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | legged locomotion; motion control; robot dynamics; stability; wheels |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 10 Dec 2019 13:33 |
Last Modified: | 04 Mar 2020 15:14 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/ROBIO49542.2019.8961722 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:154368 |