Design and Motion Analysis of Wheel-leg Compound Variable Displacement and Obstacle Surmounting Robot
- DOI
- 10.2991/icmia-17.2017.116How to use a DOI?
- Keywords
- Unstructured environment; Mobile robots; Wheel-leg compound; Obstacle
- Abstract
Aiming at the characteristics of unstructured environment, this paper proposes a new type of wheel-leg compound mobile robot suitable for unstructured environment.This innovation is that the robot adopts the wheel-leg compound configuration and sliding structure of the fuselage, and it can carry out the load to the heightened surface with large height difference through the deformation of the body without the need of auxiliary.In the process of crossing the barrier, the robot can keep the load plane parallel to the ground and the robot has a strong ability to adapt to the environment and the ability to obstruct the obstacle. The performance of the mobile robot under unstructed environment,including walking on slope, surmounting obstacles,striding ditchs,stepping up and down ladders etc.,is analyzed.
- Copyright
- © 2017, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Hesheng Yin AU - Qiuju Zhang AU - Meng Ning PY - 2017/06 DA - 2017/06 TI - Design and Motion Analysis of Wheel-leg Compound Variable Displacement and Obstacle Surmounting Robot BT - Proceedings of the 2017 6th International Conference on Measurement, Instrumentation and Automation (ICMIA 2017) PB - Atlantis Press SP - 650 EP - 655 SN - 1951-6851 UR - https://doi.org/10.2991/icmia-17.2017.116 DO - 10.2991/icmia-17.2017.116 ID - Yin2017/06 ER -