腿轮混合机器人的设计

2019 11th International Conference on Information Technology and Electrical Engineering (ICITEE) Pub Date : 2019-10-01 DOI:10.1109/ICITEED.2019.8929979

Supaphon Kamon, Uthai Aoungchareon, Sommart Thongkom

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引用次数: 0

摘要

本文介绍了一种混合式腿轮机器人的设计。设计了一种腿轮混合机器人，具有行走、左转、右转和站立的能力。机器人身体的形状是一个等边三角形。两个前腿都设计了三个自由度。后肢设计有2个无附加马达的全向轮。本文介绍了机器人的行走、左转、右转和自主平衡能力。提出了PID控制器来控制机器人在地面站立时的位置。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design of A Hybrid Leg-Wheel Robot

This paper describes the design of a hybrid leg-wheel robot. A hybrid leg-wheel robot is designed with the ability to walk, turn left, turn right and stand on the ground. The shape of a robot’s body is an equilateral triangle. Both front legs have been designed with three degrees of freedom. A back leg is designed with 2 omni-directional wheels without additional motors. This paper presents abilities that are walking, turning left, turning right and autonomous balancing. The PID controllers are proposed to control the robot’s position while robot is standing on the ground.

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来源期刊

2019 11th International Conference on Information Technology and Electrical Engineering (ICITEE)

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