IEEE Robotics & Automation Magazine - December 2017 - 45
If there is an obstacle in front of a wheel, the leg-up
motion begins automatically, or, if there is an edge
(downward step) in front of a wheel, the leg-down
motion begins automatically.
● Seat-sliding mode:
● This mode is for accessing something in front of the
P-WA.
● The seat is moved forward/backward against the body
by using seat sliding.
The drive mode has two control modes: the wheel mode
and the leg-motion mode. The control law of the front/rear
rolling and pitching actuators for the wheel mode is:
●
Td = K ^i d - ih + D (i˙d - io ) = - K i - D io f,
(6)
where Td is the target torque, i is the posture angle of the
seat, i d is the target posture angle of the seat (= 0), K is the
angle gain, and D is the angular velocity gain.
The leg-motion mode begins when a photoelectric sensor at a wheel detects an obstacle (upward step)/edge
(downward step). On a flat plane, Sensor 0 is for an edge
and Sensor 2 is for an obstacle (Figure 7). According to a
body-tilt angle of the P-WA, the sensor is selected based on
the following situations:
● When the tilt angle is more than 15° downward, Sensor 1 is
for an edge, and Sensor 2 is for an obstacle.
● When the tilt angle is more than 15° upward, Sensors 1 and
2 are for an obstacle, and no sensor is for an edge.
The value of 15° was experimentally decided.
Table 3. The time results in terms of each task in the final race (including approximately ±1 s error).
Table
Slalom
Ramp
and Door
Rough
Terrain
Tilted
Path
Stairs
Total
HSR Enhanced (gold medal,
Switzerland)
20 s
34 s
71 s
11 s
11 s
67 s
214 s
HKUSTwheels (silver medal,
Hong Kong)
20 s
18 s
37 s
11 s
13 s
120 s
219 s
Avalanche (bronze medal,
Slovenia)
22 s
22 s
34 s
15 s
17 s
157 s
267 s
RT-Movers (fourth place, our
team, Japan)
64 s
47 s
37 s
17 s
17 s
130 s
312 s
(a)
(b)
(d)
(c)
(e)
(f)
Figure 8. The P-WA performance at the Cybathlon: the (a) ramp and door task, (b) rough terrain task, (c) slalom task, (d) table task,
(e) stairs task, and (f) finish line. [Photos of (c), (e), and (f) courtesy of ETH Zürich/Alessandro Della Bella.]
DECEMBER 2017
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
45
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