RHex: A Biologically Inspired Hexapod Runner
Autonomous Robots
On the Stability of the Passive Dynamics of Quadrupedal Running with a Bounding Gait
International Journal of Robotics Research
3D Position Tracking in Challenging Terrain
International Journal of Robotics Research
Kinematic Model of a New Staircase Climbing Wheelchair and its Experimental Validation
International Journal of Robotics Research
Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on Biological Concepts
International Journal of Robotics Research
Journal of Intelligent and Robotic Systems
Sensor data fusion for body state estimation in a hexapod robot with dynamical gaits
IEEE Transactions on Robotics
Cooperative Motion Control and Sensing Architecture in Compliant Framed Modular Mobile Robots
IEEE Transactions on Robotics
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We propose a newly renovated mobile robot PEOPLER-II (Perpendicularly Oriented Planetary Legged Robot), and addresses its motion analysis for switching its locomotion from leg-type to wheel-type and vice versa. For the leg-type locomotion, particularly in a transitional state of sitting or standing, we propose a control method based on minimization of the total energy cost using the distribution of the motor power payload in the hip and knee joints, in addition to the method of keeping the same payload factor. Also, we discuss robot configurations for switching between the two locomotion types by considering environmental factors such as walking gaits, ground inclination angle and robot芒聙聶s traveling direction. Knee joint position of a pivotal foot determines knee ahead and knee behind gaits. In each switch, we check such characteristics as the hip joint rotation direction, robot center trajectory, and necessary total power in a practical point of use. Then we build three beneficial switching cycles aiming for moderate use of a motor, rider芒聙聶s comfort, and power saving. Finally, we demonstrate the switching by considering the aim and verify that the results of the analysis become useful for enabling switching on demand.