Dynamic rolling-walk motion by limb mechanism robot ASTERISK

摘要

New dynamic rolling-walk motion for multi-legged robot is proposed. The motion is realized by using the isotropic leg arrangement and the dynamic center of mass (COM) control inspired by bipedal robots. In the new dynamic rolling-walk motion, the robot switches between two phases to achieve the motion; three legs supporting phase and two legs supporting phase. By using the Preview Control with table-cart model based on the bipedal robot technique, the robot's COM motion is planned to achieve the dynamic motion. The Resolved Momentum Control is also implemented to manipulate the multi-links robot as a single mass model. We analyzed the required torque for the proposed Dynamic rolling-walk motion and simulated the motion in the dynamics simulator on Open Dynamic Engine (ODE) to confirm the feasibility.