Research on the Modeling and Transition Algorithm of a Novel Wall-Climbing Robot

被引：0
|
作者：
Li, Zhenhui [1 ]
Wang, Hongguang [1 ]
Wang, Yuechao [1 ]
Liu, Aihua [1 ]
Dong, Weiguang [1 ]
机构：
[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China
来源：
MECHATRONICS AND INFORMATION TECHNOLOGY, PTS 1 AND 2 | 2012年 / 2-3卷
关键词：
Wall-climbing Robot; Transition between inclined surfaces; FSM;
D O I：
10.4028/www.scientific.net/AEF.2-3.340
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 presents a modeling and transition algorithm of a novel wall-climbing robot with biped-wheel hybrid mechanism. In order to realize robot transitions between inclined surfaces, the robot's locomotion gait is analyzed and a locomotion gait planning model based on Finite State Machine (FSM) is established. Moreover a transition algorithm between inclined surfaces is proposed based on multi-sensors data fusions and logical reasoning networks. The results of simulations and experiments show that the model and algorithm are valid and can be applied for the wall-climbing robot's transition between the concave surfaces.
引用
收藏
页码：340 / 345
页数：6
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