Author:
Bruzzone Luca, ,Fanghella Pietro,Quaglia Giuseppe,
Abstract
Mantis 2 is a small-scale leg-wheel ground mobile robot, designed for exploration, surveillance and inspection tasks in unstructured environments. It is equipped with two actuated front wheels, two passive rear wheels, and two rotating legs with praying Mantis profile, specially conceived for step and obstacle climbing. Locomotion is purely wheeled on regular surfaces, with high energetic efficiency and maneuverability, and with stable camera vision. In case of obstacles or terrain irregularities, the rotating legs increase the motion capability. The main innovation of the second version is the introduction of passive one-way auxiliary wheels on each leg, which improve the efficacy of step climbing. The paper discusses analytical and experimental results on step ascent and descent and locomotion on irregular surfaces.
Publisher
Fuji Technology Press Ltd.
Subject
Industrial and Manufacturing Engineering,Mechanical Engineering
Reference25 articles.
1. R. R. Murphy, “Rescue Robotics for Homeland Security,” Communications of the ACM – Homeland Security, Vol.47, No.3, pp. 66-68, 2004.
2. R. Playter, M. Buehler, and M. Raibert, “Bigdog,” Proc. of the SPIE Defense & Security Symp., Unmanned Systems Technology, 2006.
3. E. Semsch, M. Jakob, D. Pavlicek, and M. Pechoucek, “Autonomous UAV Surveillance in Complex Urban Environments,” IEEE/WIC/ACM Intl. Joint Conf. on Web Intelligence and Intelligent Agent Technologies (WI-IAT’09), Vol.2, pp. 82-85, 2009.
4. E. Cetinsoy, “Design and Flight Tests of a Holonomic Quadrotor UAV with Sub-Rotor Control Surfaces,” 2013 IEEE Intl. Conf. on Mechatronics and Automation, pp. 1197-1202, 2013.
5. M. Ikeda, S. Hikasa, K. Watanabe, and I. Nagai, “Motion Analysis of a Manta Robot for Underwater Exploration by Propulsive Experiments and the Design of Central Pattern Generator,” Int. J. Automation Technol., Vol.8, No.2, pp. 231-237, 2014.
Cited by
7 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