Affiliation:
1. Key Laboratory for Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300350, China
Abstract
Mobile robots can replace humans to fulfill tasks in dangerous environments, which has been a research focus in recent years. This paper proposes a wheel-legged mobile robot with multi-locomotion and a low-energy consumption planning method. Different from the existing wheel-legged mobile robots, it can realize low-energy movement in different terrains with simple structures, and it can realize three modes: synchronous, tumbling, and curl–stretch. Then, based on the kinematics and dynamics model, a low-energy planning method is proposed, and low-energy motion planning is carried out for the three modes to obtain the low-energy driving law in each mode. A robot prototype is developed, and the experimental results show that the robot can move through the three modes with lower energy consumption in all three terrains. The planning method provides an effective reference for applying wheel-legged mobile robots.
Funder
National Key R&D Program of China
Science, Technology and Innovation Commission of Shenzhen Municipality
Reference38 articles.
1. Research on Current Situation and Trend of Robot Education in Japan;Wang;Mod. Educ. Technol.,2017
2. 30 years of neurosurgical robots: Review and trends for manipulators and associated navigational systems;Smith;Ann. Biomed. Eng.,2016
3. Stability analysis of a wheel-track-leg hybrid mobile robot;Zhu;J. Intell. Robot. Syst.,2018
4. Data logic structure and key technologies on intelligent high-precision map;Liu;J. Geod. Geoinf. Sci.,2020
5. Coupled fractional-order sliding mode control and obstacle avoidance of a four-wheeled steerable mobile robot;Xie;ISA Trans.,2021
Cited by
1 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献