Abstract
In the last years the autonomy in service robots became an important feature to develop different kinds of indoor and outdoor service tasks, like sur-veillance or inspection in hospitals. This autonomy is not only related to power consumption, it is also related with the capability to avoid obstacles without crashing. The aim of this paper is to present the experimental validation of a gait planning for obstacle avoidance with Cassino Hexapod III, a wheeled-legged hy-brid hexapod robot, with an omni-wheeled locomotion. Experimental test is car-ried out to demonstrate the motion capability of Cassino Hexapod III to dodge an obstacle in front of it.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Tedeschi, F., Carbone, F.: Design Issues for Hexapod Walking Robots, Robotics, pp. 181-206, (2014)
Bares, J., Hebert, M., Kanade, T., Krotkov, E., Mitchell, T., Simmons, R., Whittaker, W.: Ambler: An Autonomous Rover for Planetary Exploration, IEEE Comput., 6–18, (1989)
Tedeschi, F., Carbone, F.: Design of Hexapod Walking Robots: Background and Chal-lenges, Handbook of Research on Advancements in Robotics and Mechatronics, pp. 527-566, (2015)
Estier, T., Piguet, R., Eichhorn, R., Siegwart, R.: Shrimp: A Rover Architecture for Long Range Martian Mission, Proceedings of The Sixth ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA), 3.2-2, Netherlands, (2000)
Gomez-Bravo, F., Villadoniga, P., Carbone, G.: Design and Operation of a Novel Hexapod Robot for Surveillances Tasks, Advances in Service and Industrial Robotics, pp. 707-715, (2018)
Yasushi, M., Yuuya, T., Tatsuo, A., Kenji, I., Noriho, K.: Omni-directional Locomotion of Robots with Limb Mechanism, Journal of Robotics Society of Japan, pp. 329-335, 2004
Burkus, E., Odry, P.: Autonomous Hexapod Walker Robot Szabad(ka), International Sym-posium on Intelligent Systems and Informatics, pp. 103-106, (2007)
Carbone, G., Shrot, A., Ceccarelli, M.: Operation Strategy for a Low-cost Easy Operation Cassino Hexapod, Appl Bion Biomech 4(4), pp. 149–156, (2007)
Carbone, G., Ceccarelli, M.: A Low-cost Easy-operation Hexapod Walking Machine, Int J Adv Robot Syst, pp. 161-166, (2008)
Carbone, G., Gomez-Bravo, F., Selvi, O.: An Experimental Validation of Collision Free Trajectories for Parallel Manipulators, Mech Based Des Struct Mach Int J, pp. 414-433, (2012)
Tedeschi, F., Cafolla, D., Carbone, G.: Design and Operation of Cassino Hexapod II, Inter-national Journal of Mechanics and Control, pp. 19-25, (2014)
Carbone, G., Tedeschi, F., Gallozi, A., Cigola, M.: A Robotic Mobile Platform for Service Tasks in Cultural Heritage, International Journal of Advanced Robotic Systems, pp. 1-10, (2015)
Gallozzi, A., De Stefano, C., Carbone, G., Scotto di Freca, A., Ceccarelli, M., Bianchi, M., Cigola, M.: The MuseBot Project: Robotics, Informatic, and Economics Strategies for Mu-seums, Advances in Library and Information Science (ALIS), 3, pp. 45-66, (2017)
Tedeschi, F., Carbone, G.: Design of a Novel Leg-Wheel Hexapod Walking Robot, Robot-ics, (2017)
Orozco-Magdaleno, E. C., Cafolla, D., Ceccarelli, M., Castillo-Castañeda, E., Carbone, G.: Experiences for a User-Friendly Operation of Cassino Hexapod III, Proceedings of 27 RAAD Conference, pp. 205-213, (2018)
Orozco-Magdaleno, E. C., Carbone, G., Castillo-Castañeda, E.: Experiences on a Hybrid Locomotion Approach to Overcome Obstacles with Cassino Hexapod III, Proceedings of 2nd IFToMM Italy Conference, pp. 1-8, (2018)
Acknowledgments
The paper presents results from the research activities of the pro-ject ID 37_215, MySMIS code 103415 "Innovative approaches regarding the rehabili-tation and assistive robotics for healthy ageing" co-financed by the European Regional Development Fund through the Competitiveness Operational Programme 2014-2020, Priority Axis 1, Action 1.1.4, through the financing contract 20/01.09.2016, between the Technical University of Cluj-Napoca and ANCSI as Intermediary Organism in the name and for the Ministry of European Funds.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Orozco-Magdaleno, E.C., Cafolla, D., Castillo-Castañeda, E., Carbone, G. (2019). Experimental Validation of a Gait Planning for Obstacle Avoidance Using Mecanum Wheels. In: Uhl, T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_236
Download citation
DOI: https://doi.org/10.1007/978-3-030-20131-9_236
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-20130-2
Online ISBN: 978-3-030-20131-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)