Analysis for Obstacle Negotiation Capability of Wheel-Legged Robot

被引：0
|
作者：
Tian, Haibo [1 ]
Fang, Zongde [1 ]
Meng, Fanjun [1 ]
Yang, Xiaofang [1 ]
机构：
[1] Northwestern Polytech Univ, Xian, Peoples R China
来源：
MANUFACTURING SCIENCE AND TECHNOLOGY, PTS 1-8 | 2012年 / 383-390卷
关键词：
Mobile robot; obstacle negotiation; geometrical constraints; dynamics;
D O I：
10.4028/www.scientific.net/AMR.383-390.183
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
Obstacle negotiation capability is important to a mobile robot. A wheel-legged robot with symmetrical structure was presented It has four independent wheel-legged articulations which can generate a series of conFigureurations to improve its trafficability. The obstacle negotiation capability of the robot was studied. Its step-climbing process was described, and the geometrical and dynamic model for the process was built. Based on comprehensively considering geometrical and dynamic constraints, the method to work out the maximal step height that the robot can get across was brought forward. Then the method to work out the maximal slope angle was also provided. Finally the experiment to verify the above methods was done. The research mentioned above would provide a theoretical foundation to improve the robot's adaptability in complicated environments.
引用
收藏
页码：183 / 189
页数：7
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