9 accepted papers
Autonomous Mobile Robots are typically limited to structured environments, as conventional wheeled propulsion often fails on deformable terrains like sand due to excessive wheel slip and sinkage. To address this mobility challenge, this paper introduces a novel locomotion strategy for a high-degree-…
This paper presents the design, modeling, and experimental validation of a novel leg-wheel mechanism featuring an integrated, passive angle-bisecting foot. The core of the design is a two-stage planetary gear system. This system mechanically ensures a consistent foot-ground contact angle, addressing…
Hybrid leg-wheel robots offer exceptional mobility, but their complex mechanics and extended contact surfaces challenge modern control frameworks that rely on simple point-foot models. Accurately estimating both the contact state and the precise contact location using only proprioceptive sensors is …
Accurate estimation of contact forces is crucial for effective control of quadrupedal robots, especially in complex locomotion scenarios. In this paper, we introduce a novel force estimation technique for robots equipped with transformable leg-wheels. Unlike conventional methods that focus on forces
This paper introduces an noval autonomous mobile robot, IOMT, designed for indoor and outdoor multi-terrain environments, with a particular focus on stair-climbing capabilities. The robot features a four-wheel independent drive and steering system (4WID-4WIS), allowing it to maintain high maneuverab
Staircases are a challenging terrain frequently encountered in urban environments. While leg-wheel robots take advantage of having both legged and wheeled modes, their ability to negotiate stairs still requires careful planning. This paper presents a novel approach to developing a stair-climbing beh
The state estimation of legged robots often relies on ground contact detection. However, due to complex mechanisms and other factors, ground contact detection can be challenging to obtain in certain situations. This paper presents a velocity estimation method that combines inertia measurement unit (…
The leg-wheel transformable robot has the advantage of smooth, fast, and power-efficient motion on flat terrain and negotiability on rough terrain. This study presents a highly dynamic maneuver of the robot to leap onto a step using its legged form from its original form of wheeled driving, taking f…
We propose a limb trajectory planning method that considers both body and limb dynamics in robots, particularly suitable for those with non-trivial limb mass. To simplify the complexity and computation cost of using the full-body dynamics of the limbs, a reduced-order model that can simulate the dyn…