A transformable wheel-legged mobile robot: Design, analysis and experiment
作者: Tao SunXu XiangWeihua SuHang WuYimin Song
作者单位: 1Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300350, China
2Institute of Medical Equipment, Academy of Military Medical Science, Tianjin 300161, China
刊名: Robotics and Autonomous Systems, 2017, Vol.98 , pp.30-41
来源数据库: Elsevier Journal
DOI: 10.1016/j.robot.2017.09.008
关键词: Mobile robotTransformable wheel-legged robotMotion analysisObstacle avoidance
原始语种摘要: Abstract(#br)This paper proposes a new type of transformable wheel-legged mobile robot that could be applied on both flat and rugged terrains. It integrates stability and maneuverability of wheeled robot and obstacle climbing capability of legged robot by means of a wheel-legged transformable mechanism. These two modes can be switched easily with two spokes touching terrain. In this paper, the motion analysis of the proposed robot under wheeled mode, legged mode and transformable mode are carried out after briefly introducing the concept and control system design. Then, the obstacle climbing strategies under wheeled and legged modes are obtained. Finally, a prototype of the proposed robot is designed and manufactured based upon the simulation analysis. And the experiment results validate...
全文获取路径: Elsevier  (合作)
影响因子:1.156 (2012)

  • legged 有腿的
  • robot 机扑
  • wheel 
  • transformable 可转化的
  • obstacle 障碍物
  • climbing 攀移
  • avoidance 回避
  • analysis 分析
  • mobile 可动的
  • prototype 原型