共 1 条
[1]
A portable, autonomous, urban reconnaissance robot. MATHIES L,XIONG Y,HOGG R,et al. Robotics and Autonomous Systems . 2002
DEVELOPMENT AND MOTION ANALYSIS OF MINIATURE WHEEL-TRACK-LEGGED MOBILE ROBOT
被引：13
作者：
RAHMAN N
机构：
[1] School of Mechatronics Engineering Beijing Institute of Technology
[2] Beijing 100081
[3] China
关键词：
Mobile robot Locomotion modes Stair-climbing Posture recovery;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
A miniature wheel-track-legged mobile robot to carry out military and civilian missions in both indoor and outdoor environments is presented. Firstly, the mechanical design is discussed, which consists of four wheeled and four independently controlled tracked arms, embedded control system and teleoperation. Then the locomotion modes of the mobile robot and motion analysis are analyzed. The mobile robot can move using wheeled, tracked and legged modes, and it has the characteristics of posture-recovering, high mobility, small size and light weight. Finally, the effectiveness of the deve-loped mobile robot is confirmed by experiments such as posture recovering when tipped over, climb-ing stairs and traversing the high step.
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页码：24 / 28
页数：5
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