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http://dx.doi.org/10.7746/jkros.2022.17.4.500

Motion Planning and Control of Wheel-legged Robot for Obstacle Crossing  

Jeong, Soonkyu (Department of Mechatronics Engineering, Chungnam National University)
Won, Mooncheol (Department of Mechatronics Engineering, Chungnam National University)
Publication Information
The Journal of Korea Robotics Society / v.17, no.4, 2022 , pp. 500-507 More about this Journal
Abstract
In this study, a motion planning method based on the integer representation of contact status between wheels and the ground is proposed for planning swing motion of a 6×6 wheel-legged robot to cross large obstacles and gaps. Wheel-legged robots can drive on a flat road by wheels and overcome large obstacles by legs. Autonomously crossing large obstacles requires the robot to perform complex motion planning of multi-contacts and wheel-rolling at the same time. The lift-off and touch-down status of wheels and the trajectories of legs should be carefully planned to avoid collision between the robot body and the obstacle. To address this issue, we propose a planning method for swing motion of robot legs. It combines an integer representation of discrete contact status and a trajectory optimization based on the direct collocation method, which results in a mixed-integer nonlinear programming (MINLP) problem. The planned motion is used to control the joint angles of the articulated legs. The proposed method is verified by the MuJoCo simulation and shows that over 95% and 83% success rate when the height of vertical obstacles and the length of gaps are equal to or less than 1.68 times of the wheel radius and 1.44 times of the wheel diameter, respectively.
Keywords
Wheel-legged Robot; Motion Planning; Mixed-integer Nonlinear Programming; Obstacle Crossing;
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Times Cited By KSCI : 2  (Citation Analysis)
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