Dynamic trajectory control of passing over stairs by a biped type leg-wheeled robot with nominal reference of static gait

摘要

We are studying a wheeled robot with the ability of going up and down stairs. We previouslydeveloped a wheeled robot called a 'variable structure type four-wheeled robot' capable of passingover a single step, but it cannot negotiate the stairs whose tread is short compared with the wheelbaseof the robot. In this paper, we propose a 'biped type leg-wheeled robot' which has ability to pass overstairs with short treads. We also propose a trajectory planning method which uses a nominal staticwalking trajectory as a reference for the dynamic control of the robot, and investigate a trajectorycontrol method using computer simulation. We finally confirm the effectiveness of our proposedmethod with a successful experiment of going up stairs by this robot.