PMID- 37112388
OWN - NLM
STAT- PubMed-not-MEDLINE
DCOM- 20230430
LR  - 20230430
IS  - 1424-8220 (Electronic)
IS  - 1424-8220 (Linking)
VI  - 23
IP  - 8
DP  - 2023 Apr 17
TI  - TeCVP: A Time-Efficient Control Method for a Hexapod Wheel-Legged Robot Based on 
      Velocity Planning.
LID - 10.3390/s23084051 [doi]
LID - 4051
AB  - Addressing the problem that control methods of wheel-legged robots for future 
      Mars exploration missions are too complex, a time-efficient control method based 
      on velocity planning for a hexapod wheel-legged robot is proposed in this paper, 
      which is named time-efficient control based on velocity planning (TeCVP). When 
      the foot end or wheel at knee comes into contact with the ground, the desired 
      velocity of the foot end or knee is transformed according to the velocity 
      transformation of the rigid body from the desired velocity of the torso which is 
      obtained by the deviation of torso position and posture. Furthermore, the torques 
      of joints can be obtained by impedance control. When suspended, the leg is 
      regarded as a system consisting of a virtual spring and a virtual damper to 
      realize control of legs in the swing phase. In addition, leg sequences of 
      switching motion between wheeled configuration and legged configuration are 
      planned. According to a complexity analysis, velocity planning control has lower 
      time complexity and less times of multiplication and addition compared with 
      virtual model control. In addition, simulations show that velocity planning 
      control can realize stable periodic gait motion, wheel-leg switching motion and 
      wheeled motion and the operation time of velocity planning control is about 
      33.89% less than that of virtual model control, which promises a great prospect 
      for velocity planning control in future planetary exploration missions.
FAU - Sun, Junkai
AU  - Sun J
AD  - School of Mechanical and Aerospace Engineering, Jilin University, Changchun 
      130025, China.
AD  - Beijing Institute of Spacecraft System Engineering, Beijing 100094, China.
FAU - Sun, Zezhou
AU  - Sun Z
AD  - Beijing Institute of Spacecraft System Engineering, Beijing 100094, China.
FAU - Li, Jianfei
AU  - Li J
AD  - Beijing Institute of Spacecraft System Engineering, Beijing 100094, China.
FAU - Wang, Chu
AU  - Wang C
AD  - Beijing Institute of Spacecraft System Engineering, Beijing 100094, China.
FAU - Jing, Xin
AU  - Jing X
AD  - State Key Laboratory of Robotics and System, Harbin Institute of Technology, 
      Harbin 150006, China.
FAU - Wei, Qingqing
AU  - Wei Q
AD  - Beijing Institute of Spacecraft System Engineering, Beijing 100094, China.
FAU - Liu, Bin
AU  - Liu B
AD  - Beijing Institute of Spacecraft System Engineering, Beijing 100094, China.
FAU - Yan, Chuliang
AU  - Yan C
AD  - School of Mechanical and Aerospace Engineering, Jilin University, Changchun 
      130025, China.
LA  - eng
PT  - Journal Article
DEP - 20230417
PL  - Switzerland
TA  - Sensors (Basel)
JT  - Sensors (Basel, Switzerland)
JID - 101204366
SB  - IM
PMC - PMC10141102
OTO - NOTNLM
OT  - control method
OT  - time efficient
OT  - velocity planning
OT  - wheel-legged robot
COIS- The authors declare no conflict of interest.
EDAT- 2023/04/28 06:42
MHDA- 2023/04/28 06:43
PMCR- 2023/04/17
CRDT- 2023/04/28 01:51
PHST- 2023/03/17 00:00 [received]
PHST- 2023/04/12 00:00 [revised]
PHST- 2023/04/12 00:00 [accepted]
PHST- 2023/04/28 06:43 [medline]
PHST- 2023/04/28 06:42 [pubmed]
PHST- 2023/04/28 01:51 [entrez]
PHST- 2023/04/17 00:00 [pmc-release]
AID - s23084051 [pii]
AID - sensors-23-04051 [pii]
AID - 10.3390/s23084051 [doi]
PST - epublish
SO  - Sensors (Basel). 2023 Apr 17;23(8):4051. doi: 10.3390/s23084051.