ICRA 2011 Paper Abstract


Paper ThA206.3

Endo, Gen (Tokyo Institute of Technology), Hirose, Shigeo (Tokyo Institute of Technology)

Study on Roller-Walker Energy Efficiency of Roller-Walk

Scheduled for presentation during the Regular Sessions "Mechanism Design of Mobile Robots II" (ThA206), Thursday, May 12, 2011, 10:35−10:50, Room 5A

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 18, 2019

Keywords Multi-legged Robots, Mechanism Design of Mobile Robots, Wheeled Robots


Roller-Walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tip of each leg. The passive wheel can be transformed into sole mode by rotating ankle roll joint when Roller-Walker walks on rough terrain. This paper discusses energy efficiency of locomotion in wheeled mode. We define a leg trajectory to produce forward straight propulsion and discuss the relationships between the parameters of the leg trajectory and energy efficiency of the propulsion using numerical simulator. We find optimum parameter sets where optimization criteria is specific resistance. Then we carried out hardware experiments and empirically derived experimental specific resistance. We show that wheeled locomotion has 8 times higher energy efficiency than ordinary crawl gait. Finally we compare the specific resistance of Roller-Walker with other walking robots described in the literatures.



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