The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

Estimation of the Frictional Coefficient of Contact Point between the Terrain and the Wheel-Legged Robot with Hip Joint Actuation

고관절 구동 방식을 갖는 바퀴-다리형 로봇과 지면 간 접촉점에서의 마찰계수 추정

  • 신동환 (대구경북과학기술원 로봇시스템연구부) ;
  • 안진웅 (대구경북과학기술원 실용로봇연구소) ;
  • 문전일 (대구경북과학기술원 로봇시스템연구부)
  • Received : 2011.04.30
  • Accepted : 2011.08.18
  • Published : 2011.08.31
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents the estimation of the frictional coefficient of the wheel-legged robot with hip joint actuation producing maximum tractive force. Slip behavior for wheel-legged robot is analytically explored and physically understood by identification of the non-slip condition and derivation of the torque limits satisfying it. Utilizing results of the analysis of slip behavior, the frictional coefficients of the wheel-legged robot during stance phase are numerically estimated and finally this paper suggests the pseudo-algorithm which can not only estimate the frictional coefficients of the wheel-legged robot, but also produce the candidate of the touch down angle for the next stance.

Keywords

References

  1. 김윤구, 김진욱, 곽정환, 홍대한, 이기동, 안진웅, "도심지형 최적주행을 위한 휠-무한궤도 하이브리드형 모바일 로봇 플랫폼 및 메커니즘", 로봇학회논문지, 제5권 3호, pp.270-277, 2010.
  2. 김윤구, 안진웅, 곽정환, 문전일, "휠-트랙 하이브리드 모바일 로봇 플랫폼의 지형 적응성 및 사용자 친화성 향상을 위한 원격 조종기 설계와 개발", 제어 . 로봇 . 시스템학회 논문지, 제17권 6호,pp.558-565, 2011.
  3. 신동환, 김영식, 권오석, 공동욱, 안진웅, "생체모 방 모바일 로봇용 Two Segment Leg에 대한 연구", 정밀공학회 춘계학술대회논문집, pp.1271-1272, 2010.
  4. 권오석, 신동환, 안진웅, "복합지형 주행을 위한 생체 모방 로봇 개념 연구", 정밀공학회 추계학술대회 논문집, pp.139-140, 2009.
  5. D.-H. Shin, Y. Kim, and J. An, "Effects of torsional stiffness, knee angle, and link ratio on the design of a biologically inspired mobile robot with two-segment legs", Proc. of International Conference on Control, Automation and Systems, pp.1835-1838, 2010.
  6. D.-H. Shin, Y. Kim, S. Jeong, and J. An, "Design of a biologically inspired robot using CAD/CAE/RP", Proc. of International Conference on Computer-Aided Manufacturing and Design, pp.467-470, 2010.
  7. Y. Kim, D.-H. Shin, O.S. Kwon, and J. An, "Running model for a compliant wheel-Leg hybrid mobile robot by using a mass-spring model", Proc. of International Conference on Mechanical, Industrial, and Manufacturing Technologies, pp.289-292, 2011.
  8. D.-H. Shin, J. An, S. Jeong, and Y. Kim, "The mechanical analysis of a legged field robot for the reduction of longitudinal mass-drift amounts", Proc. of International Symposium on Automation and Robotics in Construction, pp.1417-1418, 2011.
  9. Y. Hori, Y. Toyoda, and Y. Tsuruoka, "Traction control of electric vehicle based on the estimation of road surface condition, basic experimental results using the test ev UOTMarch", IEEE Trans. Ind. Applicat., vol. 34, pp.1131-1138, 1998. https://doi.org/10.1109/28.720454
  10. G.A. Cavagna, N.C. Heglund, and C.R. Taylor, "Mechanical work in terrestrial locomotion: two basic mechanisms for minimizing energy expenditure." Am. J. Physiol. 233, pp.243-261, 1977.
  11. R. Blickhan, "The spring-mass model for running and hopping", Journal of Biomechanics 22 (11-12), pp 1217-1227, 1989. https://doi.org/10.1016/0021-9290(89)90224-8
  12. RT, Schroer, Boggess, MJ, Bachmann, RJ, Quinn, RD, and Ritzmann, RE "Comparing Cockroach and Whegs Robot Body Motions", Proc. of IEEE Conference on Robotics and Automation, 2004.
  13. K. Galloway, J. Clark, and D. Koditschek, "Design of a multi-directional variable stiffness leg for dynamic runnings", In ASME Int. Mech. Eng. Congress and Exposition. 2007.
  14. J. Rummel and A. Seyfarth, "Stable running with segmented legs", International Journal of Robotics Research, 27:919-934, 2008. https://doi.org/10.1177/0278364908095136