腿轮混合移动机器人的研制及其步进算法

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-10-29 DOI:10.1109/IROS.2001.976255

H. Adachi, N. Koyachi

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引用次数: 16

摘要

介绍了一种腿轮混合移动机器人的研制及其步进算法。作者一直在开发一种名为“Walk'n Roll”的移动机器人。它有一个腿-轮混合运动机构。机器人有四条腿，每条腿的末端都有一个轮子。腿式运动对崎岖地形适应性强，轮式运动速度快、效率高。轮式车辆不能通过的障碍之一是台阶。研究了一种腿轮混合移动机器人通过台阶的控制算法。该算法已在Walk'n Roll上实现，并进行了实验验证。

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Development of a leg-wheel hybrid mobile robot and its step-passing algorithm

Describes the development of a leg-wheel hybrid mobile robot and its step-passing algorithm. The authors have been developing a mobile robot named "Walk'n Roll". It has a leg-wheel hybrid locomotion mechanism. The robot has four legs, and a wheel is attached at the end of each leg. Legged locomotion has high adaptability for rough terrain, and wheeled locomotion possesses speed and efficiency. One of the obstacles that a wheeled vehicle can not pass is a step. A control algorithm for the leg-wheel hybrid mobile robot to pass a step is considered. The developed algorithm is implemented on Walk'n Roll, and is evaluated experimentally.

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来源期刊

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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