Omnidirectional motion planning for a leg-wheeled robot with reduced DOF and using passive wheels

摘要

This paper presents a new type of leg-wheeled robot, which is constructed with passive wheels and the idea of reduced degrees of freedom (DOF). Even though there are variety types of mobile robots researched, some of them cannot be used practical purpose because of their high number of DOF, resulting in complex structure and complicated control system. Typical leg-wheeled robots also have a high number of DOF, and because of that, it is very difficult to put them in practical purpose. Thus, we try to develop another type of leg-wheeled robot with reduced DOF, which only have 10 DOF even though they have 6 legs. The motion plan for the robot discussed in previous study was simply moving forward, and those motion plans cannot be applied for moving omnidirectionaly. Therefore, we propose new motion plans, which can be applied for moving in omnidirection, and more details about the motion planning of moving forward by using the new motion plan.