RECONFIGURABLE WHEEL-LEGGED ROBOT

被引：6

作者：

Virgala, Ivan ^{[1
]}

Mikova, Lubica ^{[1
]}

Kelemenova, Tatiana ^{[1
]}

Kelemen, Michal ^{[1
]}

Prada, Erik ^{[1
]}

Hroncova, Darina ^{[1
]}

Varga, Martin ^{[1
]}

机构：

[1] Tech Univ Kosice, Fac Mech Engn, Dept Mechatron, Deartment Biomed Engn & Measurement, Kosice, Slovakia

来源：

MM SCIENCE JOURNAL | 2020年 / 2020卷

关键词：

legged locomotion; reconfigurable; robot; wheeled locomotion; mechanism; CONTROLLER;

D O I：

10.17973/MMSJ.2020_06_2020027

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The paper deals with the reconfigurable robot design. A robot should be able to locomote via using wheels on a smooth terrain and locomote via using legs on a rough terrain or if necessary also cross an obstacle. The transformation between legs and wheels is a suitable concept to an unknown environment with obstacles. Wheeled locomotion is better from the viewpoint of energy consumption. A design of a wheeled mode of the robot was the first part of the design. The design of a quarter model of the mobile robot in a legged mode has been also made. A position vector of an end point (wheel) has been determined via using the Denavit-Hartenberg principle. The realised model is used mainly for an experimental study of the reconfigurable robot designed principle. A locomotion strategy of the robot has been proposed.

引用

页码：3960 / 3965

页数：6

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