Referenced Items are not available for this document.
We present the design and gait generation for an experimental ROLLERBLADER. The ROLLERBLADER is a robot with a central platform mounted on omnidirectional casters and two 3 degree-of-freedom legs. A passive rollerblading wheel is attached to the end of each leg. The wheels give rise to nonholonomic constraints acting on the robot. The legs can be picked up and placed back on the ground allowing a combination of skating and walking gaits. We present two types of gaits for the robot. In the first gait, we allow the legs to be picked up and placed back on the ground while in the second, the wheels are constrained to stay on the ground at all tunes. Experimental gait results for a prototype robot are also presented.
Published in:
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
(Volume:4
)
Date of Conference: April 26-May 1, 2004
- Page(s):
- 3944 - 3949 Vol.4
- ISSN :
- 1050-4729
- Print ISBN:
- 0-7803-8232-3
- INSPEC Accession Number:
- 8088465
- Digital Object Identifier :
- 10.1109/ROBOT.2004.1308885
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