Design of A Hybrid Leg-Wheel Robot

被引：0
|
作者：
Kamon, Supaphon [1 ]
Aoungchareon, Uthai [1 ]
Thongkom, Sommart [1 ]
机构：
[1] Bangkokthonburi Univ, Mech Engn Dept, Bangkok 10800, Thailand
来源：
2019 11TH INTERNATIONAL CONFERENCE ON INFORMATION TECHNOLOGY AND ELECTRICAL ENGINEERING (ICITEE 2019) | 2019年
关键词：
hybrid leg-wheel robot; PID control;
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
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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页数：5
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