Modeling and control of a small mobile robot with multi-locomotion modes

被引：0
|
作者：
Duan, Xingguang [1 ]
Huang, Qiang [1 ]
Rahman, Nasir [1 ]
Li, Jingtao [1 ]
Du, Qinjun [1 ]
机构：
[1] Beijing Inst Technol, Dept Mechatron Engn, Beijing 100081, Peoples R China
来源：
ISDA 2006: SIXTH INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS DESIGN AND APPLICATIONS, VOL 2 | 2006年
关键词：
mobile robot; multi-locomotion modes; kinematic; dynamic control;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper we describes the kinematic and dynamic control modeling of a small wheel-track-legged mobile robot MOBIT which is targeted to applications in various hazardous environments to carry out military and civilian missions. The models for MOBIT has some individuality because of its multi-locomotion modes named wheeled, tracked, legged mode. Different kinematics and dynamic control equations are derived based on its multi-locomotion modes respectively, and their features in different modes are revealed. Particularly, the modeling description of differential driven in wheeled mode, characteristics of slippage in tracked mode and posture definition in legged mode are presented mathematically. By using the Routh method, the dynamic control model is established. Unlike other robot operating on a flat surface, the proposed equations are solved to obtain the robot position, posture and its dynamic characteristics that can be used for autonomous motion control of robot operating with different locomotion modes in rough terrains.
引用
收藏
页码：592 / +
页数：2
相关论文
共 50 条
  • [31] Multi-locomotion mode human-robot interaction technology for self-paced treadmills
    Qian Y.
    Lu S.
    Yang K.
    Zhu Y.
    Qinghua Daxue Xuebao/Journal of Tsinghua University, 2023, 63 (12): : 1961 - 1973
  • [32] A design of a small mobile robot with a hybrid locomotion mechanism of wheels and multi-rotors
    Tanaka, Katsuaki
    Zhang, Di
    Inoue, Sho
    Kasai, Ritaro
    Yokoyama, Hiroya
    Shindo, Koki
    Matsuhiro, Ko
    Marumoto, Shigeaki
    Ishii, Hiroyuki
    Takanishi, Atsuo
    2017 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA), 2017, : 1503 - 1508
  • [33] Experimental Validation of Optimal Load-allocation Control in Pace Gait Ladder Decent Motion for Multi-Locomotion Robot (MLR)
    Lu, Zhiguo
    Sekiyama, Kosuke
    Aoyama, Tadayoshi
    Fukuda, Toshio
    Hasegawa, Yasuhisa
    PROCEEDING OF THE IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, 2012, : 721 - 726
  • [34] Path Planning Algorithm for Multi-Locomotion Robot Based on Multi-Objective Genetic Algorithm with Elitist Strategy
    Liu, Chong
    Liu, Aizun
    Wang, Ruchao
    Zhao, Haibin
    Lu, Zhiguo
    MICROMACHINES, 2022, 13 (04)
  • [35] Design, Development and Testing of a New Solar-powered Bionic Underwater Glider with Multi-locomotion Modes
    Fu, Keyao
    Wang, Peng
    Sun, Bin
    Zhao, Liang
    Liu, Chuang
    OCEANS 2019 - MARSEILLE, 2019,
  • [36] DESIGN AND LOCOMOTION MODES OF A SMALL WHEEL-LEGGED ROBOT
    Doroftei, Ioan
    Ion, Ion
    NATURE INSPIRED MOBILE ROBOTICS, 2013, : 609 - 616
  • [37] A Low-Energy Consumption Planning Method for Multi-Locomotion Wheel-Legged Mobile Robots
    Li, Jinfu
    Liu, Yongxi
    Yu, Ze
    Guan, Yuntao
    Zhao, Yingzhuo
    Zhuang, Zheming
    Sun, Tao
    MACHINES, 2024, 12 (02)
  • [38] Adaptive Morphology-based Design of Multi-Locomotion Flying and Crawling Robot "PENS-FlyCrawl"
    Kuswadi, Son
    Tamara, Mohamad Nasyir
    Sahanas, Dzikri Aditya
    Islami, Galang Ilham
    Nugroho, Setyo
    2016 INTERNATIONAL CONFERENCE ON KNOWLEDGE CREATION AND INTELLIGENT COMPUTING (KCIC), 2016, : 80 - 87
  • [39] Hierarchical autonomous switching control of a multi-modes omnidirectional mobile robot
    Zhang, Xiaolong
    Huang, Yu
    Wang, Shuting
    Jiang, Liquan
    Li, Gen
    Xie, Yuanlong
    MECHATRONICS, 2021, 80
  • [40] Motion Mode Conversion Drive Algorithm for Multi-Locomotion Robot Based on Multi-Objective Genetic Algorithm with Elitist Strategy
    Wang, Ruchao
    Lu, Zhiguo
    Liu, Aizun
    Liu, Chong
    Liu, Guoshuai
    Li, Wengiao
    2022 IEEE INTERNATIONAL CONFERENCE ON CYBORG AND BIONIC SYSTEMS, CBS, 2022, : 43 - 48
12345