Relative Tilt Suppression of a Carried Object Using Base Link Angle Adjustment on a Quadruped-Wheeled Robot
Kimikage Kanno, Kenji Hashimoto, Ikuo Mizuuchi
Abstract
In this paper, we consider the case of carrying an object with a quadruped-wheeled robot and examine and verify the angle planning method for the robot’s base link (load section) that suppresses the relative tilt of the carried object. It is important to suppress the tilt of the carried object relative to the base link. We formulated the angle of the base link at which the carried object does not begin to tilt relative to the base link. We examined an angle planning method for the base link that would suppress the relative tilting of the carried object. Then, we verified the method using a simulation and a quadruped-wheeled robot: MELEW-3 (Meiji Leg-Wheeled Robot - No.3). As a result, both in the simulation and on the actual robot, we succeeded in carrying the object without turning over, and the base link was tilted based on the planning method.
BibTeX
@inproceedings{iros2025_relativetiltsupp,
title = {Relative Tilt Suppression of a Carried Object Using Base Link Angle Adjustment on a Quadruped-Wheeled Robot},
author = {Kimikage Kanno and Kenji Hashimoto and Ikuo Mizuuchi},
booktitle = {IROS 2025},
year = {2025}
}