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
相关论文
共 50 条
  • [41] 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
  • [42] Research on kinematic modeling and path following for wheeled mobile robot
    Zhang Feng
    Li Changguo
    Yuan Shuai
    Li Siqi
    Zhao Languang
    PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016, 2016, : 4481 - 4486
  • [43] Kinematic and dynamic simulation of biped robot locomotion on multi-terrain surfaces
    Viswanadh, Chegu
    Sarkar, Abhishek
    Sreedharan, Pramod
    INTERNATIONAL CONFERENCE ON ADVANCES IN MATERIALS AND MANUFACTURING APPLICATIONS (ICONAMMA-2018), 2019, 577
  • [44] Design and Control Architecture of a Small Mobile Robot with Hybrid Locomotion System
    Badrul-Aisham
    Bakhsh, Qadir
    Hasnan, Khalid
    Ahmed, Aftab
    ADVANCED MATERIALS, MECHANICS AND INDUSTRIAL ENGINEERING, 2014, 598 : 619 - 622
  • [45] ROLLING LOCOMOTION OF HEXAGONAL KINEMATIC CHAIN ROBOT
    Stanley, Joshua
    Schroeder, Adam
    Trease, Brian
    PROCEEDINGS OF ASME 2022 INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, IDETC-CIE2022, VOL 7, 2022,
  • [46] Designing minimal and scalable insect-inspired multi-locomotion millirobots
    Zhenishbek Zhakypov
    Kazuaki Mori
    Koh Hosoda
    Jamie Paik
    Nature, 2019, 571 : 381 - 386
  • [47] Design, hydrodynamic analysis, and testing of a bioinspired controllable wing mechanism with multi-locomotion modes for hybrid-driven underwater gliders
    SUN TongShuai
    WANG YanHui
    YANG ShaoQiong
    WANG Cheng
    ZHANG LianHong
    Science China(Technological Sciences), 2021, 64 (12) : 2688 - 2708
  • [48] Designing minimal and scalable insect-inspired multi-locomotion millirobots
    Zhakypov, Zhenishbek
    Mori, Kazuaki
    Hosoda, Koh
    Paik, Jamie
    NATURE, 2019, 571 (7765) : 381 - +
  • [49] Kinematic modeling of terrain adapting wheeled mobile robot for Mars exploration
    Gajjar, BI
    Johnson, RW
    ROMOCO'02: PROCEEDINGS OF THE THIRD INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL, 2002, : 291 - 296
  • [50] Design, hydrodynamic analysis, and testing of a bioinspired controllable wing mechanism with multi-locomotion modes for hybrid-driven underwater gliders
    Sun TongShuai
    Wang YanHui
    Yang ShaoQiong
    Wang Cheng
    Zhang LianHong
    SCIENCE CHINA-TECHNOLOGICAL SCIENCES, 2021, 64 (12) : 2688 - 2708
12345