FUHAR: A transformable wheel-legged hybrid mobile robot

被引：35
|
作者：
Mertyuz, Irem [1 ]
Tanyildizi, Alper K. [1 ]
Tasar, Beyda [1 ]
Tatar, Ahmet B. [1 ]
Yakut, Oguz [1 ]
机构：
[1] Firat Univ, Fac Engn, Dept Mechatron Engn, Elazig, Turkey
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2020年 / 133卷
关键词：
Mobile robot; Transformable wheel-legged robot; Motion analysis; Obstacle avoidance; Dynamic model; DESIGN; LOCOMOTION; OPTIMIZATION; PLATFORM;
D O I：
10.1016/j.robot.2020.103627
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper introduces a mobile robot with a new type of transformable wheel legs that can be used for flat and rough terrain. It integrates the stability and maneuverability of a wheeled robot and the legged robot's obstacle climbing capacity using a transformable mechanism with wheel legs. With a transformation structure based on a four-bar mechanism, these two modes can be easily changed. This paper analyzes the movements for the proposed robot in wheeled and legged mode. Dynamic modeling and design of a control system were obtained. Then, the obstacle climbing strategies under legged modes were carried out. Finally, on the basis of the simulation, a prototype of the proposed robot was designed and produced. The results from the experiments validate the efficiency of the designed hybrid mobile robot. (C) 2020 Elsevier B.V. All rights reserved.
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页数：15
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