Design of a Leg-Wheel Hybrid Mobile Platform

被引：35
|
作者：
Shen, Shuan-Yu [1 ]
Li, Cheng-Hsin [1 ]
Cheng, Chih-Chung [1 ]
Lu, Jau-Ching [1 ]
Wang, Shao-Fan [1 ]
Lin, Pei-Chun [1 ]
机构：
[1] Natl Taiwan Univ, Dept Mech Engn, Taipei 10764, Taiwan
来源：
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年
关键词：
D O I：
10.1109/IROS.2009.5353958
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
We introduce the design of a leg-wheel hybrid platform Quattroped. Comparing to most hybrid platforms which have separate mechanisms of wheels and legs, this robot is implemented with a transformation mechanism which directly changes the morphology of wheels (i.e. a full circle) into 2 degree-of-freedom legs (i.e. combining two half-circles as a leg). The mechatronics, software infrastructure, and the initial experimental test of the robot are also reported.
引用
收藏
页码：4682 / 4687
页数：6
相关论文
共 50 条
  • [1] Dynamic behaviors for a hybrid leg-wheel mobile platform
    Steeves, C
    Buehler, M
    Penzes, SG
    UNMANNED GROUND VEHICLE TECHNOLOGY IV, 2002, 4715 : 75 - 86
  • [2] Development of Leg-Wheel Hybrid Quadruped "AirHopper": Lightweight Leg-Wheel Design
    Tanaka, Takahiro
    Hirose, Shigeo
    JOURNAL OF ROBOTICS AND MECHATRONICS, 2008, 20 (04) : 526 - 532
  • [3] Design of A Hybrid Leg-Wheel Robot
    Kamon, Supaphon
    Aoungchareon, Uthai
    Thongkom, Sommart
    2019 11TH INTERNATIONAL CONFERENCE ON INFORMATION TECHNOLOGY AND ELECTRICAL ENGINEERING (ICITEE 2019), 2019,
  • [4] Design and locomotion analysis of a close-chain leg-wheel mobile platform
    Fan, Xiang-Ming
    Ruan, Qiang
    INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2023, 50 (01): : 122 - 134
  • [5] Design and simulation of a leg-wheel hybrid robot
    Zang, Xi-zhe
    Sun, Xin-Ran
    Liu, Yi-Xiang
    Wang, Ji-Bin
    PROCEEDINGS OF THE 2015 INTERNATIONAL CONFERENCE ON MECHANICS AND MECHATRONICS (ICMM 2015), 2016, : 856 - 867
  • [6] Mantis: hybrid leg-wheel ground mobile robot
    Bruzzone, Luca
    Fanghella, Pietro
    INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2014, 41 (01): : 26 - 36
  • [7] Experimental Validation of a Leg-wheel Hybrid Mobile Robot Quattroped
    Huang, Ke Jung
    Chen, Shen-Chiang
    Chou, Ya Cheng
    Shen, Shuan-Yu
    Li, Cheng-Hsin
    Lin, Pei-Chun
    2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2011,
  • [8] Development of a leg-wheel hybrid mobile robot "walk'n roll"
    Adachi, H
    Koyachi, N
    Arai, T
    Halme, A
    PROCEEDINGS OF THE ICMA'98 - ADVANCED MECHATRONICS: FIRST-TIME-RIGHT, VOLS 1 AND 2, 1998, : 145 - 154
  • [9] Roller-Walker: A new leg-wheel hybrid mobile robot
    Hirose, Shgeo
    Takeuchi, Hiroki
    Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 1996, 62 (599): : 2758 - 2764
  • [10] Development of Leg-wheel Hybrid Quadruped "AirHopper" Design of Powerful Light-weight Leg with Wheel
    Tanaka, Takahiro
    Hirose, Shigeo
    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, 2008, : 3890 - 3895
12345