Abstract
While traveling on rough terrain, smooth movement of a mobile robot plays an important role in carrying out the given tasks successfully. This paper describes the trajectory generation algorithm for smooth movement of hybrid-type mobile robot Rocker-Pillar by adjusting the angular velocity of its caterpillar as well as each wheel velocity in such a manner to minimize a proper index for smoothness. To this end, a new Smoothness index (SI) is first suggested to evaluate the smoothness of movement of Rocker-Pillar. Then, the trajectory generation algorithm is proposed to reduce the undesired oscillations of its Center of mass (CoM). The experiment are performed to examine the movement of Rocker-Pillar climbing up the step whose height is twice larger than its wheel radius. It is verified that the resulting SI is improved by more than 40 % so that the movement of Rocker-Pillar becomes much smoother by the proposed trajectory algorithm.
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Recommended by Associate Editor Kyoungchul Kong
Seungmin Jung received the B.S. degree in mechatronics engineering from Korea University of Technology and Education, Korea in 2012, and the M.S. degree in mechanical and aerospace engineering from Seoul National University, Korea, in 2014. Since 2015, she has performed research about robotic exoskeletons for Lower Limb Rehabilitation in the Center for Bionics at the Korea Institute of Science and Technology (KIST). Her research interests include creative robotic design, control, rehabilitation robotics and robotic prosthesis.
Dongkyu Choi received the B.S. and Ph.D. degrees in mechanical and aerospace engineering from Seoul National University, Korea, in 2010 and 2015. His current research interests include rough terrain mobile platforms.
Hwa Soo Kim received the B.S. and Ph.D. degrees in mechanical engineering from Seoul National University, Korea, in 2000 and 2006, respectively. He is currently an Associate Professor in the Department of Mechanical System Engineering, Kyonggi University. His current research interests include design, modeling and control of various types of mobile platforms.
Jongwon Kim received the B.S. degree in mechanical engineering from Seoul National University, Korea, in 1978, the M.S. degree in mechanical and aerospace engineering from the KAIST, Korea, in 1980, and the Ph.D. degree in mechanical engineering from the University of Wisconsin-Madison, USA, in 1987. He is currently a Professor in the School of Mechanical and Aerospace Engineering, Seoul National University, Korea. His current research interests include parallel mechanisms, Taguchi methodology and field robots.
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Jung, S., Choi, D., Kim, H.S. et al. Trajectory generation algorithm for smooth movement of a hybrid-type robot Rocker-Pillar. J Mech Sci Technol 30, 5217–5224 (2016). https://doi.org/10.1007/s12206-016-1039-z
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DOI: https://doi.org/10.1007/s12206-016-1039-z