Kinematic modeling of a small mobile robot with multi-locomotion modes

被引：4
|
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：
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年
关键词：
mobile robot; multi-locomotion modes; kinematic;
D O I：
10.1109/IROS.2006.282276
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper describes the kinematic 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 kinematic modeling for MOBIT has some individuality because of its multi-locomotion modes named wheeled, tracked, legged mode and obstacle negotiating mode. Different kinematics equations are derived based on its multi-locomotion modes respectively, and their features of kinematics in different modes are revealed. Particularly, the kinematic description of differential driven in wheeled mode, characteristics of slippage in tracked mode and posture definition in legged mode are presented mathematically. Unlike other robot operating on a flat surface, the proposed equations are solved to obtain the robot position and posture which can be used for autonomous. motion control of robot operating in rough terrains.
引用
收藏
页码：5582 / +
页数：2
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