油圧ローバー(Hydrover) IEEE RAL 掲載

油圧ローバー(Hydrover)の論文が IEEE RAL に掲載されました。関係者の皆様に感謝いたします。

駆動輪と受動輪、脚部の関節に最適にトルク分配しながら傾斜面などの不整地を走行する汎用的な全身運動制御アルゴリズムとシミュレーション、4輪4脚油圧駆動ローバーによる実機実験の結果の一部を示したものです。本学と株式会社クボタとの共同研究の成果です。

https://ieeexplore.ieee.org/abstract/document/8754703

Hyon, S., Ida, Y., Ishikawa, J. and Hiraoka, M., "Whole-body locomotion and posture control on a torque-controlled hydraulic rover," IEEE Robotics and Automation Letters, vol.4, no.4, pp. 4587-4594, 2019.Oct.

Abstract:

This letter presents the control method and system of a four-legged, four-wheel-drive hydraulic powered rover that can traverse irregular terrain such as agricultural or forest landscapes while carrying manipulators and other tools to do heavy-duty work. The rover is equipped with driving wheels at the tip of its legs and passive wheels at its knees or the bottom of its belly. By directly controlling the whole-body joint torque using hydraulic actuators, the multiple contact forces at its rolling contact points can be distributed optimally according to the rover state. This allows the acceleration of the rover's center of gravity and posture to be controlled while the active/passive wheels accommodate the terrain. The proposed control method is applied to our new fully torque-controlled rovers produced from low-cost hydraulic components. The simulation and experiments on balancing on moving ground, or running over slopes validates the proposed algorithm and the system.

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